基于混合控制的机械臂定位和振动控制研究

针对柔性机械臂的定位和振动控制，设计了一种基于带尾部信号的时滞滤波器的混合闭环控制方案。滤波器的设计采用系统输出等于系统参考值的幅值的约束条件，有效地减小了机械臂的定位调节时间；同时综合考虑柔性关节的振动模态，设计出时间最优的时滞滤波器，进一步消除柔性关节的残留振动，显著提高了定位效率。仿真结果证明了该方案的有效性能，能够同时实现机械臂柔性关节的快速定位以及振动控制，有利于作业效率的进一步提高。

Positioning and Vibration Control of Robot Manipulator Based on Hybrid Control

Aiming at positioning and vibration control of flexible robot manipulators, a hybrid close loop control scheme based on time delay filter with tail was proposed. The design of time delay filter was based on the amplitude constraints of system output equal to reference value. The approach reduced the positioning time efficiently. Considering the vibration mode of the manipulator, the designed filter also eliminated the residual vibration. Simulation results prove the effectiveness of this proposed approach, achieve the fast positioning and vibration control of flexible joint, and further enhance the working efficiency.