而后是柔性机械臂的振动控制。
Then, the vibration control of flexible manipulator was realized.
最后本文给出了此类柔性机械臂动力响应的一些结论。
In the end some important conclusions about the vibration response of the manipulator are summed up.
对双连杆柔性机械臂动力学非线性控制问题进行了分析。
The nonlinear dynamic control strategy of two-link flexible arm is analyzed.
在进行柔性机械臂逆动力学求解时，应在慢变的意义上进行。
So, the solution for the flexible arms should be carried out while only the slow part is included.
本文给出了精细时程积分法求解柔性机械臂动力学方程的方法。
A precise time integration algorithm is developed for solving the dynamic equation in flexible manipulators.
本文提出了一种在时域上设计柔性机械臂开环控制力矩的逆动力学方法。
In this paper, the new inverse dynamics method, which designs the open-loop control torque for one-link flexible manipulator, is proposed.
并对机器人的伞状支架和柔性机械臂的机构和工作原理进行了详细说明。
The cleaning mechanism adopts the flexible robot arm which drived by steel wire.
在柔性机械臂的控制研究中，实现定位目标的同时必须快速消除柔性振动。
In the study of control of flexible robot arms, it is an important that flexible vibration be smoothed quickly while fixing the position of target.
采用最优跟踪控制方法对柔性机械臂线性化主动控制中的时滞问题进行研究。
A linearized time-delay controller is proposed for a flexible manipulator system following the optimal tracking control theory.
将时滞滤波器技术应用在柔性机械臂残留振荡的控制中，获得了好的控制效果。
Time delay filter technique is applied in the control of reducing residual vibration of a flexible beam.
为了研究柔性机械臂的非线性动力学，可以将柔性机械臂简化成为柔性悬臂梁。
In order to investigate the nonlinear dynamics of the flexible robotic arm, we can simplify the robotic arm into the model of the flexible cantilever.
通过重新定义系统的输出，将柔性机械臂的模型分解为输入输出和零动态两个子系统；
Using redefinition system output, a model of the flexible manipulator is decomposed into input-output subsystem and zero-dynamics subsystem.
采用奇异摄动方法将柔性机械臂系统动力学方程分解为慢变(刚性)和快变(弹性)两个子系统。
Using the singular perturbation theory, the full-order flexible dynamics system is decomposed into slow (rigid) and fast (flexible) subsystems.
支撑机构采用了伞状支架，能够适用于矩形或圆形管道；清洁机构采用了钢丝绳驱动的柔性机械臂。
The support mechanism which can be used in rectangular or circular pipeline, adopts umbellar bracket.
应用这两种方法建立单连杆柔性机械臂系统动力学模型，模型中包含了机械臂的形状参数以及驱动器的参数。
The dynamic model of a single-link robotic flexible manipulator system which includes structure parameters and driver parameters was proposed.
因此应用双向映射神经元网络对柔性机械臂进行控制，能够满足柔性机械臂控制的要求，是一种有效的控制方法。
So the approach proposed in the paper is an effective control method to meet the requirement of flexible manipulator controlling.
本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统，并对慢变子系统采用滑模控制方法设计了控制器。
The paper used singular perturbation method to separate the Two-link Flexible Manipulator system into slow sub-system and fast sub-system and designed controller using Sliding Mode Co.
针对带刚性连接挠性接头、以柔性行星齿轮驱动的工业机械臂，提出了一种新的建模和计算方法。
In view of the rigid link flexible joint, the industry mechanical arm which actuates by the flexible planet gear, this paper proposed one kind of new modeling and the computational method.
平面三柔性杆机械臂动力学数值模拟显示了该方法的有效性。
The dynamic simulation of a three flexible links robot manipulator shows the effectiveness of the method.
运用拉格朗日法建立了臂杆柔性的机械臂的动力学方程。
The dynamic equation of robot arms with link flexibility is established using Lagrange method.
利用机械臂逆动力学方法和线性二次型（LQ）最优控制方法讨论刚柔性耦合机械臂的轨迹跟踪控制问题和消除残余振动的控制问题。
The inverse dynamic method of manipulator and the Linear Quadrics (LQ) optimum control method are employed to investigate the problems of trajectory tracking and eliminating the remaining vibration.
利用机械臂逆动力学方法和线性二次型（LQ）最优控制方法讨论刚柔性耦合机械臂的轨迹跟踪控制问题和消除残余振动的控制问题。
The inverse dynamic method of manipulator and the Linear Quadrics (LQ) optimum control method are employed to investigate the problems of trajectory tracking and eliminating the remaining vibration.
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