In this paer,a mathematicla mdoel for flexible robot mainipulators with smart links featuring pieloelectric filsm is devleoped in conjunction with the finite element mehtod.The dynamics of piezoelectric actuators and strain gage sensors bonded n th flexible links are presented for beam model.Theory and measuremes of active vibration ocntrol for flexible manipulators are stuided based n the modal and modern contorl theory,and the correspndent optimal ocntorl shceme is propsoed.The robust ocntorl low is formulated based on the modified independent modal control mehtod and the Linear Quadratic theory.The COmputational method for the actual contorl moments and the contorl voltages are also presented.
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