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柔性双连杆机械臂脉冲力矩控制的数值仿真和实验研究
Alternative TitleStudy on Emulation and Experiment of the Impulse Torques Control of Two-link Flexible Manipulators
李晓光; 李元春; 陆佑方
Department中国科学院沈阳自动化研究所
Source Publication吉林工业大学自然科学学报
ISSN1671-5497
1999
Volume29Issue:1Pages:75-80
Indexed ByCSCD
CSCD IDCSCD:661289
Contribution Rank3
Keyword柔性双连杆机械臂 轨迹跟踪 振动抑制 数值仿真 实验研究 脉冲力矩
Abstract在刚性双连杆机械臂控制方案的基础上,提出了柔性双连杆机械臂的轨迹跟踪和振动抑制的脉冲力矩控制方案,针对竖直平面双连杆柔性机械臂进行了数值仿真和实验研究。;  In this paper, the method of the impulse torques control is established for vertical planar two-link flexible manipulators on the basis of rigid manipulators control. The variables of two-link manipulators are rest rained w hen the t ip trajectory of manipulator is being tracked with this method. Finally, the results of numerical emulation and experiment are show n in the paper.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15709
Collection沈阳自动化所知识产出(2000年前)
Affiliation1.吉林职业师范学院电子工程系
2.吉林工业大学信息科学与工程学院
3.中国科学院机器人学开放实验室
Recommended Citation
GB/T 7714
李晓光,李元春,陆佑方. 柔性双连杆机械臂脉冲力矩控制的数值仿真和实验研究[J]. 吉林工业大学自然科学学报,1999,29(1):75-80.
APA 李晓光,李元春,&陆佑方.(1999).柔性双连杆机械臂脉冲力矩控制的数值仿真和实验研究.吉林工业大学自然科学学报,29(1),75-80.
MLA 李晓光,et al."柔性双连杆机械臂脉冲力矩控制的数值仿真和实验研究".吉林工业大学自然科学学报 29.1(1999):75-80.
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