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    岳士岗, 白师贤. 冗余度柔性杆机械臂自运动规划减振[J]. 北京工业大学学报, 1998, 24(2): 80-85.
    引用本文: 岳士岗, 白师贤. 冗余度柔性杆机械臂自运动规划减振[J]. 北京工业大学学报, 1998, 24(2): 80-85.
    shu
    Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
    Citation: Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
    shu

    冗余度柔性杆机械臂自运动规划减振

    Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning

      摘要
    • 摘要: 提出了利用冗余度来减轻柔性杆机器人臂运动过程中的末端振动变形新方法,通过寻优确定机器人臂最佳的自身运动,使机器人臂末端在沿着预定轨迹运动的同时,具有最小的振动变形.平面三柔性杆机械臂动力学数值模拟显示了该方法的有效性.

       

      Abstract: A new method is presented and it uses redundancy to reduce the endpoint vibration of a flexible robot arm. The suitable self-motion with minimum endpoint vibration deformation is determined, through optimization while tracing prescribe trajectory. The dynamic simulation of a three flexible links robot manipulator shows the effectiveness of the method.

       

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