论文标题
稳定反转的应用到由ANCF建模的柔性操纵器
Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF
论文作者
论文摘要
与传统的机器人相比，灵活的操纵器具有许多优势，例如更快的最终效应速度和更少的能耗。但是，它们的柔性结构可能导致不想要的振荡。因此，应用的控制策略应考虑到这些弹性。基于系统反向模型的前馈控制器是提高性能的有效方法。但是，对于许多常见的柔性机器人而产生不稳定的内部动力学，必须应用稳定的反转。在此贡献中，提出了原始稳定反转方法的近似值。近似简化了问题设置，因为内部动力学无需明确地得出边界条件的定义。从实际的角度来看，这使该方法适用于具有许多未发动的自由度的更复杂的系统。由绝对节点坐标公式（ANCF）建模的柔性操作器被视为应用示例。
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied control strategy should account for these elasticities. A feedforward controller based on an inverse model of the system is an efficient way to improve the performance. However, unstable internal dynamics arise for many common flexible robots and stable inversion must be applied. In this contribution, an approximation of the original stable inversion approach is proposed. The approximation simplifies the problem setup, since the internal dynamics do not need to be derived explicitly for the definition of the boundary conditions. From a practical point of view, this makes the method applicable to more complex systems with many unactuated degrees of freedom. Flexible manipulators modeled by the absolute nodal coordinate formulation (ANCF) are considered as an application example.
