Vibration Suppression of a One-link Flexible Arm Using Trajectory Planning Method
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摘要: 提出了一种以抑制柔性连杆振动控制为目标的运动轨迹规划策略。针对柔性连杆线性化的一阶模态动力学方程,考虑连杆端点振动的零初始条件和零残余振动的终止条件,分段设计连杆端点的振动曲线,之后根据分段函数连接点的约束条件,得到以抑制连杆端点残余振动为目标的连杆刚性转角的加速—匀速—减速三段式运动轨迹。采用PD控制器获得柔性连杆系统的控制输入力矩。数值仿真验证了提出的方法的正确性。Abstract: The vibration control strategy is presented in this paper for a one-link flexible robot arm using trajectory planning. Considering the linearized first-order vibration motion equation, zero initial states and zero residual vibration, the piecewise designed flexural motion of the flexible link endpoint is calculated at first. Then, the acceleration-constant speed-deceleration rigid joint angle trajectory of the link is obtained with constraint conditions. Finally, the input torque of the flexible manipulator for tracking presented designed joint trajectory is achieved applying the PD controller. The numerical simulations are carried out to demonstrate the control performances and effectiveness of the proposed method.
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Key words:
- flexible arm /
- vibration reduction /
- trajectory planning
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