Position control without residual vibration for a two-link rigid-flexible manipulator

被引：2

作者：

Meng Q.-X. ^{[1
,2
]}

Lai X.-Z. ^{[1
,2
]}

Yan Z. ^{[1
,2
]}

Wang Y.-W. ^{[1
,2
]}

Wu M. ^{[1
,2
]}

机构：

[1] School of Automation, China University of Geosciences, Wuhan, 430074, Hubei

[2] Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, 430074, Hubei

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Flexible manipulators; Position control; Residual vibration; Trajectory planning; Underactuated mechanical system;

D O I：

10.7641/CTA.2019.90174

中图分类号：

学科分类号：

摘要：

This paper presents a position control method without residual vibration for a two-link rigid-flexible manipulator based on trajectory planning. This method can achieve that the end-effector of the manipulator has no residual vibration while rapidly reaching its target position. Firstly, the dynamic model of the system is built. By analyzing this dynamic model, the state constraint equations of the system are obtained. Next, based on these constraint equations, a forward trajectory and a reverse trajectory of the system are planned by using bidirectional trajectories planning method. Then, the time rewinding method and trajectory optimization method based on genetic algorithm are used to connect these two trajectories and obtain a desired trajectory from the initial state to the target state. Finally, a trajectory tracking controller is designed to make the system reach its target state along this desired trajectory. Thus, the position control objective without residual vibration is achieved. The simulation results demonstrate the effectiveness of the proposed method. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.

引用

页码：620 / 628

页数：8

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