The tip-position control of flexible manipulator is discussed.
讨论了柔性机械手末端位置的控制问题。
Then, the vibration control of flexible manipulator was realized.
而后是柔性机械臂的振动控制。
Vibration control is the main task in flexible manipulator controlling.
振动控制是柔性臂控制的主要任务。
With the dynamic model of flexible manipulator, PD control, fuzzy PD control and neural-network control are studied.
系统控制方面，针对柔性臂的动力学模型，分别进行了PD控制、模糊pd控制和神经网络控制方案的研究。
The problems of trajectory tracking control and vibration suppression of a rigid flexible manipulator are discussed.
机械臂轨迹跟踪控制和振动抑制问题。
A linearized time-delay controller is proposed for a flexible manipulator system following the optimal tracking control theory.
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。
So the approach proposed in the paper is an effective control method to meet the requirement of flexible manipulator controlling.
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。
In this paper, the new inverse dynamics method, which designs the open-loop control torque for one-link flexible manipulator, is proposed.
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。
Using redefinition system output, a model of the flexible manipulator is decomposed into input-output subsystem and zero-dynamics subsystem.
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；
The flexible manipulator dynamics is a topic of general interest in robotics, but the study on its cooperation is still in vacuum at present.
柔性机器人动力学是当前机器人研究的热点，而其协调操作问题目前仍为空白。
The dynamic model of a single-link robotic flexible manipulator system which includes structure parameters and driver parameters was proposed.
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 results show that the approach can overcome the nonlinear hysteresis of piezoelectric actuator and the vibration of flexible manipulator and get high tracking control accuracy.
试验表明，此方法可以有效地克服片状压电陶瓷驱动器的迟滞特性，消除柔性臂运动产生的振动，实现柔性臂的高精度轨迹控制。
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.
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。
Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established.
在此基础上分析了操作臂的运动学和静力学关系，建立了并联柔性系统的动力学模型。
On this basis, by studying a flexible redundant manipulator's joints motion, a method is presented for suppressing vibration of a flexible redundant manipulator by correctly choosing its self-motions.
在此基础上，通过对柔性冗余度机器人的关节运动进行研究，提出了通过自运动的适当选取从而抑制机器人柔性振动的方法。
Finally, a planar 3r flexible redundant manipulator is utilized as an illustration example. Simulation results prove the validity and efficiency of this active vibration control strategy.
最后，以平面3r柔性冗余度机器人为例进行了计算机仿真，其结果证明了这种主动控制方法的有效性。
A method for improving the frequency property of flexible redundant manipulator is studied.
对改善柔性冗余度机器人的频率特性进行了研究。
A fuzzy adaptive control method is proposed for a flexible robot manipulator.
摘要提出了一种用于柔性机器人操作臂控制的模糊自适应控制策略。
Using flexible actuator Pneumatic Muscle actuator as a new actuator to construct a manipulator system and a platform of multiple degrees of freedom is a new research field of gas dynamics.
用柔性执行器气动人工肌肉为新型执行器构建气动人工肌肉机械手系统，特别是多自由度的平台，是气动方向一项新的研究内容。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
The dynamic simulation of a three flexible links robot manipulator shows the effectiveness of the 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 structural system of a 3-DOF flexible parallel manipulator is described, to which both the fixed and motional coordinate systems are set up.
三自由度柔性并联机械手的结构体系进行了描述，这两个固定及移动的坐标系统的设置。
As a result, it is necessary to research how spherical gear mechanism be utilized with flexible multi-link manipulator.
因而研究将球齿轮机构用于柔性多关节机械手很有必要。
Finally, a space manipulator with three arms (the last arm is flexible) is simulated, and the theoretical analysis is verified to be correct.
最后以一末杆为柔杆的空间三杆机器人为例，验证了理论分析的正确性。
The system has the features of flexible parameter measurement, automatic error correction and the parameters can not be changed by manipulator.
系统具有参数测量灵活，能自动纠错，操作人员对测量参数无法人为更改的优点。
A novel neural networks control approach for manipulator with flexible end link was proposed.
提出了一种末杆为柔性杆的机器人的新型神经网络控制方法。
A model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived.
建立了一种空间柔性梁单元模型，推导了柔性梁单元的动力学方程和并联机器人支链的动力学方程。
A model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived.
建立了一种空间柔性梁单元模型，推导了柔性梁单元的动力学方程和并联机器人支链的动力学方程。
应用推荐