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针对柔性机械臂的控制难点,在纵观柔性机械臂控制现状的基础上,提出了利用广义预测控制方法对柔性机械臂进行控制。实验结果表明,广义预测控制方法对柔性机械臂的控制是有效的。为柔性机械臂的进一步研究提供了理论指导及重要的前提条件。
In view of the control difficulties of flexible manipulator, based on the review of the current situation of flexible manipulator control, the control of flexible manipulator with generalized predictive control is proposed. The experimental results show that the generalized predictive control method is effective for the control of flexible manipulator. It provides theoretical guidance and important precondition for the further research of flexible manipulator.