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	Vibration control in a dual-drive planar parallel robot
	Chu Zhongyi ; Cui Jing ; Sun Lining ; Sun Fuchun
	2010-05-06 ; 2010-05-06
关键词	Practical/ closed loop systems feedback linear motors robot dynamics vibration control/ dual-drive planar parallel robot vibration control high precision flexible robot linear motors piezo electric slave driver closed loop feedback controller motion control/ C3390 Robotics C3120F Mechanical variables control E1550A Robotics E2230 Robot and manipulator mechanics E2180D Vibrations and shock waves (mechanical engineering)
中文摘要	A high speed and high precision flexible robot was studied with reduced residual vibrations at high speeds. Dual drives were used to suppress the vibrations in the flexible robot. The robot uses linear motors to provide fast and accurate positioning with preshaping input command selected to suppress the vibrations with a piezo electric slave driver and closed loop feedback controller to restrain the residual vibrations. Experiments validate that the stabilizing time is reduced by 80%. The dual drive strategy is an excellent way to realize high speed, high precision motion control.
语种	中文 ; 中文
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/10378]
专题	清华大学
推荐引用方式 GB/T 7714	Chu Zhongyi,Cui Jing,Sun Lining,et al. Vibration control in a dual-drive planar parallel robot[J],2010, 2010.
APA	Chu Zhongyi,Cui Jing,Sun Lining,&Sun Fuchun.(2010).Vibration control in a dual-drive planar parallel robot..
MLA	Chu Zhongyi,et al."Vibration control in a dual-drive planar parallel robot".(2010).

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