摘要
研究一类柔性机器人手臂的镇定。首先将系统描述为适当的Hilbert空间中的发展方程，再利用算子半群理论讨论了系统的稳定性，最后给出一类控制，使系统的弹性振动被抑制，同时保证机械臂工作姿态到位。
The paper endeavors at a theoretical study on the smooth operation of a kind of flexible robot arm. The system is first taken as a developing equation in the Hibert space, and the smoothness of the system is discussed applying operators and semi-group theory. A kind of control is then assigned to restain the resilient vibration of the system assuring in the mean time appropriate postures of the mechanical arm throughout its work.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
1997年第4期338-341,共4页
Acta Armamentarii
关键词
柔性机器人
控制系统
稳定
flexible robot arm, controlling system, stabilization
