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本文提出了一种柔性机械臂振动控制的简单而有效的方法——脉冲控制方法。对脉冲触发时刻、宽度、高度、周期进行了研究,并进行了数值仿真,结果表明正确地选择脉冲形式可达到很高的闭环控制精度。本文所提出的方法还可为柔性机械臂逆动力学——低振动输入力矩设计提供参考。
In this paper, a simple and effective method for vibration control of flexible manipulator - impulse control method is proposed. The pulse triggering time, width, height and period are studied, and the numerical simulation is carried out. The results show that the accuracy of the closed-loop control can be achieved by choosing the pulse form correctly. The proposed method can also provide a reference for the design of flexible manipulator inverse dynamics - low vibration input moment.