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Abstract: In order to improve dynamic performance of flexible
redundant manipulators, the active vibration control method is employed.
The smart links are synthesized with the flexible links to which are
bonded piezoelectric actuators and strain gage sensors. The state-space
expression of the active vibration control system is developed firstly.
Based on the independent modal space control theory (IMSC), the state
feedback controller is designed and the actual control voltage imposed
on the piezoelectric actuators is calculated. Moreover, the state
information of the system is estimated with resort to the strain signals
measured at mid-span locations of the flexible links. Finally, a planar
3R flexible redundant manipulator is utilized as an evaluation example.
The simulation results prove the validity of this method.
Key words: Flexible manipulators Redundancy Vibration Active
control Smart materials
CLC No: TP242
TH112
国家自然科学基金(59975001)和中国博士后科学基金资助项目.
Received 20011023, received in revised form 20020515 |