Vibration Control And Experimental Research Of Flexible Manipulator

With the continuous advancement of science and technology, the application of robot becomes to be more widespread. It can implement a large amount of reduplicate and mechanical work that used to be done by human in the industrial, medical, military and other fields. In recent years, the exploration of outer space is deepening. Due to the strong environmental adaptability and the high degree of precision to complete the task, the study of space robot gains more and more attention from research institutions.As an important component of many kinds of robots, the tendency of the development of the robot arm is high-speed, high precision and lightening. To both the space exploration and the industry, a flexible manipulator with high-speed and stable performance has high practical value. The dynamics of flexible manipulator system is characterized by a wide range of rigid body motion along with the small elastic vibration of the flexible arm at the same time. The elastic vibration of flexible arm will greatly affect the positioning accuracy of manipulator end. In bad conditions, it can even affect the stability of robotic system. This paper is supported by the Key Project of Ministry of Education of China (307005) "Space Flexible Robot Dynamics/Control Coupling System Research", and focuses deeply on the dynamic characteristics of vibration and control strategy of flexible manipulator. Meanwhile, it designs and improves the experimental system, as well as verifies the linear quadratic (LQ) optimal controller actual effect by vibration control experiments. Section of this paper is as follows:Chapter One: determine the main contents of the paper by the research of domestic and international flexible manipulator, including the modeling theory, vibration control, experimental systems, the development and application of smart materials. Chapter Two:Firstly, according to the dynamic characteristics of the vibration of flexible manipulator, build the vibration differential equations with the theory of vibration mode and the theory of mechanics of materials. Then, according to the characteristics of piezoelectric effect and d-type piezoelectric equations, derivate the output equation of sensor and the torque equation of actuator. After that, establish the state space expression of the flexible manipulator by coordinate transformation.Chapter Three:First of all, introduce the linear quadratic optimal control to the vibration control of flexible manipulator, and analyze the composition and the significance of the performance function. After that, design the infinite-time state regulator for flexible arm with proper weighting-matrix Q and simulate the controller in Matlab to validate its effect.Chapter Four:Above all, introduce the composition and the function of the microgravity flotation simulation integrated experimental platform briefly, and design a joint performance testing system using LabWindows/CVI as software development environment for the key component—flexible joints and fully embodying the concept of "software is the instrument". Then, use the LMS modal analysis instrument with the method of impact testing to verify the theoretical analysis of vibration modes. After that, set up the vibration control experimental platform using piezoelectric ceramics as actuator and complete the control experiment to test the control effect of the LQ controller. The control software is programmed by Visual Basic.