关键词: 残余振动, 加速度波形优化, 柔性机械臂, 振动控制

Abstract: Flexible robots are widely used in aerospace exploitation and nuelear engineering. The control of residual vibration of flexible arm by using acceleration optimization method is delt with. The formula of calculating residual vibration as well as the robust control conditions, safety conditions, and reliability conditions are proposed. Mesh optimization is adopted as the optimum calculation method. Both simulation and experiment results show the efficiency of the method on the controlling of residual vibration of flexible arms.

Key words: Acceleration optimize, Flexible arm, Residual vibration, Vibration control