解耦(概率)
控制理论(社会学)
机械臂
控制器(灌溉)
加速度
工程类
职位(财务)
内环
控制工程
计算机科学
物理
控制(管理)
机械工程
生物
人工智能
经济
经典力学
财务
农学
作者
V. Feliú,K.S. Rattan,H.B. Brown
出处
期刊:Journal of Robotic Systems
[Wiley]
日期:1995-01-01
卷期号:12 (1): 1-17
被引量:15
标识
DOI:10.1002/rob.4620120102
摘要
Abstract This article describes the design and control of a two‐joint, two‐link flexible arm. This flexible arm was built with very light links, has most of its mass concentrated at the tip and uses a special mechanical configuration to approximately decouple radial tip motions from angular tip motions. The lightweight design and decoupling maximize the efficiency of power transmitted to the load. An important problem when controlling lightweight flexible arms is the large Coulomb friction of the motors. A two‐nested‐loop multivariable controller is used to control the lightweight flexible arm with friction in the joints. The inner loop controls the position of the motors while the outer loop controls the tip position. The resolved acceleration method is generalized to control this flexible arm. The compliance matrix is used to model the oscillations of the structure and is included in the decoupling/linearizing term of this controller. Experimental results are presented. © 1995 John Wiley & Sons, Inc .
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