| 单连杆弹性手臂模型及其控制 |
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| 引用本文： | 张念祖 朱汝辉. 单连杆弹性手臂模型及其控制[J]. 上海交通大学学报, 1994, 28(3): 46-51 |
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| 作者姓名： | 张念祖 朱汝辉 |
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| 摘 要： | 本文介绍了单连杆弹性手臂的模型及控制方法，通过系统辨识得到系统模型，在此基础上进行控制，可使单连杆弹性手臂起，制动阶段弹性连杆的振动得到有效的抑制。
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| 关 键 词： | 机器人 弹性手臂 模型 控制 |
The Identification and Control of Single-Link Flexible Manipulator |
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| Zhang Nianzu, Zhu Ruihui, Fan Maoji. The Identification and Control of Single-Link Flexible Manipulator[J]. Journal of Shanghai Jiaotong University, 1994, 28(3): 46-51 |
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| Authors: | Zhang Nianzu Zhu Ruihui Fan Maoji |
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| Affiliation: | Zhang Nianzu; Zhu Ruihui; Fan Maoji |
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| Abstract: | In this paper, the model and control of one -link flexible robotic arm are presented. Based on the model of the system, which is gotten through identifying, research on control methods is carried out. The vibration of the link during the start and brake process is reduced effectively. |
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| Keywords: | robot flexible arms model control |
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