柔性机械臂速度控制研究

结合机械臂的结构特点,将神经网络与预测控制、滚动优化理论相结合,设计出用于柔性机械臂轨迹跟踪的神经网络动态优化调整的智能控制系统。从而能够以良好的控制柔性机械臂跟踪各状态量的期望值,并同时达到末时刻速度调节的目的。

Study on speed control of flexible manipulator

In this paper, based on joint robots will be treated he structural characteristics of the manipulator, the two as Euler-Bemoulli beam connected model. Manipulator system dynamics model was established by Lagrange Equafion ,a flexible manipulator neural network identification model has been established. Combining Neural Networks and Predictive Control, Polling Optimization Theory, this paper has designed a intelligent control system for trajectory tracking of flexible manipulator, The control system can very well track the expectations of the angular displacements, while meeting the requirements of speed adjustment.