柔性机械臂运动轨迹的鲁棒自适应控制

本文针对多连杆柔性机械臂的运动轨迹控制问题，讨论了动力学建模、控制系统结构设计以及鲁棒自适应控制算法，运用假设模态方法得到了柔性机械臂动力学近似方程，通过对柔性机械臂动力学特性分析，建立了等价动力学模型，依此提出了一种鲁棒自适应控制算法，并给出了仿真研究结果。

The motion trajectory control problem of multi-link flexible manipulators is considered in this paper.The dynamic modelling,structure design of control systems and robust adaptive control algorithm forthe flexible manipulators are studied. The approximate dynamic equations of flexible robot are built by means of assumptive modes method.According to the input-output characteristic of flexible manipulators,the e-quivalent dynamic equations are built, and the multi-modal robust adaptive controller is designed.Lastly,the simulation experiment results are given.

国家自然科学基金