| 引用本文: | 刘新建,马宏绪,张彭.柔性机械手加速度反馈抑制振动的机理与稳定性分析.[J].国防科技大学学报,1999,21(5):25-28.[点击复制] |
| Liu Xinjian,Ma Hongxu,Zhang Peng.Mechanism and Stability Analysis of Vibration Suppression with Acceleration Feedback for Flexible Manipulator[J].Journal of National University of Defense Technology,1999,21(5):25-28[点击复制] |
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| 柔性机械手加速度反馈抑制振动的机理与稳定性分析 |
| 刘新建, 马宏绪, 张彭 |
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(国防科技大学 自动控制系 湖南 长沙 410073)
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| 摘要: |
| 在柔性机械手的控制中, 末端加速度反馈是一种抑制振动有效而简便的途径。但直到现在对其中抑制振动和稳定性的机理并不很清楚。本文深入系统地分析了其内在原因, 证明其反馈稳定性, 并在自行建立的柔性手实验平台上完成了实验证明, 得出了几个确定性有实际指导意义的结论。 |
| 关键词: 柔性机械手, 加速度反馈, 振动抑制 |
| DOI： |
| 投稿日期：1999-03-22 |
| 基金项目:国家863项目资助 |
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| Mechanism and Stability Analysis of Vibration Suppression with Acceleration Feedback for Flexible Manipulator |
| Liu Xinjian, Ma Hongxu, Zhang Peng |
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(Department of Automatic Control, NUDT, Changsha, 410073)
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| Abstract: |
| End-point acceleration feedback is a kind of simple and efficient method for vibration suppression of flexible manipulator, but until now the mechanism of vibration suppression and stability is not very clear. The paper has made a thorough and systematic analysis of the built-in mechanism and proved its feedback stability. Some correct and guiding conclusions have been drawn, and also verified experimentally. |
| Keywords: flexible manipulator, acceleration feedback, vibration suppression |
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