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| Research on high precision motion control and vibration suppression algorithm of elastic-base flexiblejoint and flexiblelink planar motion robot |
| Received:June 29, 2020 Revised:August 11, 2020 |
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| DOI：10.7511/jslx20200629001 |
| KeyWord:flexible base flexible link flexible joint space robot PD repetitive control |
| Author | Institution |
| 付晓东 |
福州大学 机械工程及自动化学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
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| Abstract: |
| In order to achieve precise motion control and multiple vibration suppression of a space robot with elastic bases,flexiblejoints and flexiblelinks,a space robot with fully elastic base,joints and links are established.The finite dimension PD repetitive learning control and vibration synchronous control scheme are used to control the system.Combined with Linear springs,torsion springs,Euler-Bernoulli beam theory,using modal method,momentum conservation laws and Lagrange method,the dynamic equations of the space robot with a flexiblebase two flexiblelinks and two flexiblejoints are established.System variables are decomposed on two different time scales using singular perturbation technology.Improved PD repetitive algorithm is used to control robot motion and suppress links vibration in the slow time scale.Then,the vibration of the flexible base and the two joints are suppressed with the linear quadratic optimal control method in a fast time scale.The main controller is composed of slow and fast sub-controllers.Numerical simulation results verify the effectiveness of the algorithm. |
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