关键词: 残余振动, 加速度, 开关变结构控制, 柔性机械臂

Abstract: In order to control the residual vibration in real time and to improve the position accuracy of a flexible manipulator，a switch variable structure control strategy with acceleration feedback on the residual vibration of a flexible manipulator is developed．The operational time of a flexible manipulator is divided into two periods of time, the first period of time is that the flexible manipulator moves large angle under the driving torque，and the second period time is that the flexible manipulator moves to the terminal state approximately，a logical soft switch is set on so as to feedback the beam end acceleration to the controller and the controller generates an additional torque．The driving torque and additional torque may be used to reduce the residual vibration of a flexible manipulator effectively and to improve the position accuracy．A series of experimental results including comparison with PID control strategy prove that switch variable structure control strategy with acceleration feedback on a flexible manipulator strategy correct and feasible．

Key words: Acceleration, Flexible manipulator, Residual vibration, Switch variable structure control