关键词: 机敏材料, 冗余度, 柔性机器人, 振动, 主动控制, KE模型, 微凸体 , 接触刚度, 机械结合面, 相互作用

Abstract: In order to improve dynamic performance of flexible redundant manipulators, the active vibration control method is employed. The smart links are synthesized with the flexible links to which are bonded piezoelectric actuators and strain gage sensors. The state-space expression of the active vibration control system is developed firstly. Based on the independent modal space control theory (IMSC), the state feedback ontroller is designed and the actual control voltage imposed on the piezoelectric actuators is calculated. Moreover, the state information of the system is estimated with resort to the strain signals measured at mid-span locations of the flexible links. Finally,a planar 3R flexible redundant manipulator is utilized as an evaluation example. The simulation results prove the validity of this method.

Key words: Active control Smart materials, Flexible manipulators Redundancy Vibration, asperity, contact stiffness, interaction, KE model, mechanical joint