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Abstract: An analytical investigation is presented into active
residual vibration control of flexible redundant manipulators. The smart
links are fabricated from the flexible links to which are attached
piezoelectric actuators and strain gage sensors. The state-space
expression of the stochastic dynamic system is developed firstly. With
resort to the minimum principle, a LQG state feedback controller is
obtained. In addition, a continuous Kalman filter is designed based on
the optimal estimation theory. Finally, a planar 3R flexible redundant
manipulator is utilized as an illustration example. Simulation results
prove the validity and efficiency of this active vibration control
strategy.
Key words: Flexible redundant manipulators Residual vibration Active
control Stochastic optimal control
CLC No: TP242
TH112.1
国家自然科学基金(59975001)和中国博士后科学基金资助项目. Received 20010827, received in revised
form 20020510
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