中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model

文献类型:会议论文

作者Qin Y(秦勇); Han JD(韩建达); Yang TW(杨唐文)
出版日期2016
会议名称3rd International Conference on Cognitive Systems and Information Processing, ICCSIP 2016
会议日期November 19, 2016 - November 23, 2016
会议地点Beijing, China
关键词Flexible robotic arm Lumped dynamic model Vibration control Wave absorption
页码425-442
通讯作者Yang TW(杨唐文)
中文摘要A wave absorption control strategy is proposed to suppress vibration at the distal end of a flexible robotic arm while achieving accurate position control. It assumes the flexible arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is thus resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added subsequently. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The properties of the control scheme proposed are studied throughout. It works very well under uncertainty, and is stable and robust, for tip positioning and trajectory tracking control, as demonstrated in the numerical results.
收录类别EI
产权排序3
会议录Communications in Computer and Information Science
会议录出版者Springer Verlag
会议录出版地Singapore
语种英语
ISSN号1865-0929
ISBN号978-981-10-5230-9
WOS记录号WOS:000432311900042
源URL[http://ir.sia.cn/handle/173321/20819]  
专题沈阳自动化研究所_机器人学研究室
作者单位1.Institute of Information Science, Beijing Jiaotong University, Beijing, 100044, China
2.State Key Laboratory of Robotics Shenyang Institute of Automation, CAS, Shenyang, 110016, China
3.State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, 100044, China
推荐引用方式
GB/T 7714
Qin Y,Han JD,Yang TW. Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model[C]. 见:3rd International Conference on Cognitive Systems and Information Processing, ICCSIP 2016. Beijing, China. November 19, 2016 - November 23, 2016.

入库方式: OAI收割

来源:沈阳自动化研究所

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