| 引用本文: | 张戎军，孙增圻，孙富春.柔性机械手加速度反馈消振的进一步研究[J].控制理论与应用,1999,16(4):553~557.[点击复制] |
| Zhang Rongjun，Sun Zengqi and Sun Fuchun.A Further Study of Vibration Suppression of Flexible Manipulators Using Acceleration Feedback[J].Control Theory and Technology,1999,16(4):553~557.[点击复制] |
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| 柔性机械手加速度反馈消振的进一步研究 |
| A Further Study of Vibration Suppression of Flexible Manipulators Using Acceleration Feedback |
| 摘要点击 808 全文点击 366 投稿时间：1996-12-23 修订日期：1998-08-27 |
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| DOI编号 |
| 1999,16(4):553-557 |
| 中文关键词 柔性机械手 加速度反馈 振动 稳定性 |
| 英文关键词 flexible manipulators flexible manipulator vibration stability |
| 基金项目 |
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| 中文摘要 |
| 在柔性机械手控制中，加速度反馈的方法是一种消除末端振动的有效而简便的途径.然而，目前对其有效性尚无严格的理论证明和分析.本文将通过非约束模态分析方法对单柔性臂机械手的动力学方程进行分析，以此为基础对加速度反馈的理论和现实进行研究和讨论，得到了一些重要的结论. |
| 英文摘要 |
| In the control of flexible manipulators,the acceleration feedback is proven to be an effective and easily implementable method to alleviate vibration.So far, however, there is no strict theoretical proof with regard to its effectiveness. In this paper, the analysis of the dynamic equations of a sing-link flexible manipulator is presented using the unconstrained modal analysis method,then the theory and implementation of the flexible manipulator are investigated and discussed.Song important conclusions are drawn. |