| 柔性机械手加速度反馈抑制振动的机理与稳定性分析 |
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| 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 |
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| 作者姓名： | 刘新建 马宏绪 张彭 |
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| 作者单位： | 国防科技大学自动控制系!长沙410073 |
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| 基金项目： | 国家 8 6 3项目资助 |
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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
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| 关 键 词： | 柔性机械手 加速度反馈 振动抑制 |
| 收稿时间： | 1999-03-22 |
Mechanism and Stability Analysis of Vibration Suppression with Acceleration Feedback for Flexible Manipulator |
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| Liu Xinjian,Ma Hongxu and 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 |
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| Authors: | Liu Xinjian Ma Hongxu Zhang Peng |
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| Affiliation: | Department of Automatic Control, NUDT, Changsha, 410073;Department of Automatic Control, NUDT, Changsha, 410073;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. |
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| Keywords: | flexible manipulator acceleration feedback vibration suppression |
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