关键词: 边界条件, 反馈控制, 柔性机械臂, 振动

Abstract: The hub boundary condition of the flexible manipulator with feedback control is different form pinned free or clamped free hub boundary condition. So a pinned-spring boundary condition is used as the hub boundary condition. And the dynamic model of flexible manipulator and derived the transfer functions with the electric-mechanic coupling character are set up by using the tip angular position of the beam as output and the desired angular position as input. The linear quadratic objective function in time domain is transformed into an objective function in frequency domain according to the Parsvel theorem, and the strain feedback gains are got. A series of experimental results testify the theoretical analysis.

Key words: Boundary condition, Feedback control, Flexible manipulator, Vibration