柔性关节机械臂振动抑制控制策略的分析.pdfVIP

哈尔滨工业大学工学硕士学位论 Abstract Because of their unique properties and good performance, some elastic components, such as the harmonic reducers and the torque sensors, are widely used in the joint s of the robots and manipulators, in order to obtain high reduction ratio , detect the joint torque and realize the modularization of the joint system. However these elastic components bring joint flexibility into the system at the same time, which makes its stability control more complex. The robots will vibrate during operation due to the existence of the parameter uncertainties and external disturbances. Also the joint flexibility makes it inevitable that there remains some residual vibration when the robots stop. These phenomena will not only significantly reduce the efficiency of the system, but also make it impossible that the end-effector stays in the desired position quickly and accurately, if so the high-precision position control would be meaningless. Therefore it ’s necessary to take measures to suppress vibration. This paper will study the strategy and algorithm of high-precision position control and vibration suppression control, simulate the control system designed for the flexible joint manipulator with th e simulation software Simulink, and carry out some experiments to verify the effectiveness of the controller in the 7-DOF humanoid manipulator. Firstly, the dynamic model of the 7-DOF humanoid manipulator with consideration of joint flexibility is built based on the New