CN108858145B - Synchronous motion control device and method for double-flexible robot - Google Patents
Synchronous motion control device and method for double-flexible robot Download PDFInfo
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- CN108858145B CN108858145B CN201810763588.4A CN201810763588A CN108858145B CN 108858145 B CN108858145 B CN 108858145B CN 201810763588 A CN201810763588 A CN 201810763588A CN 108858145 B CN108858145 B CN 108858145B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention discloses a synchronous motion control device and method for a double-flexible robot, wherein the synchronous motion control device comprises a mechanical body part, a detection driving part and a control part, the mechanical body part consists of a first flexible body and a second flexible body part, the detection driving part comprises a piezoelectric sensor and a piezoelectric driver, the control part processes a received detection signal and outputs a control signal, and the vibration control is carried out on four flexible arms. The invention realizes the vibration control of the flexible arms with the vibration quantity incapable of being directly measured, and can compare the control effect of the synchronous motion of the two flexible arms.
Description
Technical Field
The invention relates to the field of flexible robots, in particular to a synchronous motion control device and method for double flexible robots.
Background
With the development of scientific technology, the development of robotics is continuously towards light weight, high speed and high precision, especially into twenty-first century, the exploration of space by human beings is continuously in depth, and in consideration of the severe and complex environment of outer space and the safety of astronauts, when complex space exploration and operation tasks are executed, a mechanical arm structure combining aviation technology and robotics is very necessary to replace astronauts to complete the tasks. Therefore, the research on the structural design and vibration control technology of the mechanical arm has become an important research direction in the fields of robotics and aerospace.
In order to avoid positioning errors and mechanical vibration, the arms of the traditional industrial robot are generally designed into a rigid structure, along with rapid development of aerospace industry, the complexity of tasks required to be completed by the space manipulator is increased, the requirements on the structure and performance of the space manipulator are also higher and higher, the structure of the space manipulator is larger and larger due to the complex tasks, on the other hand, in order to reduce the aerospace cost and the energy consumption of the manipulator, and ensure the flexibility of the space manipulator, the space manipulator is often manufactured by adopting novel light materials, and therefore, the space manipulator is developed towards the trend of low rigidity, high precision and flexibility. The research of the flexible mechanical arm starts from a single-degree-of-freedom flexible mechanical arm, the research of the flexible mechanical arm is carried out in the last 80 th century, as the task executed by the mechanical arm is more and more complex, the single-degree-of-freedom flexible mechanical arm cannot meet the use requirement, the research of the two-degree-of-freedom flexible mechanical arm is carried out along with the rise, wherein the most notable canadian arm II (SSRMS-2) designed for an international space station by the Canadian aviation is carried out, compared with the traditional rigid mechanical arm, the flexible mechanical arm has the characteristics of light weight, high response speed, high load/self weight ratio and the like, but simultaneously due to the characteristics of low rigidity and high disturbance degree, when the mechanical arm is subjected to external excitation, the two-degree-of-freedom flexible mechanical arm is easy to generate self low-frequency and high-amplitude elastic vibration, so that the two-degree-of-freedom flexible mechanical arm also has some problems in the use process, and the first stage assembly of the space station is taken as an example, the space flexible mechanical arm system needs to work for about 47 hours, but about 20% -30% of time is used for waiting for the attenuation of the residual vibration of the self-life of the mechanical arm, and meanwhile, in order to avoid the mechanical arm movement process to generate larger elasticity, the mechanical arm movement has high response speed, the vibration of the mechanical arm is very high, the vibration of the flexible mechanical arm is required to be well, and the vibration system is very high, and the vibration is very high, and has the vibration is very high.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a synchronous motion control device and method for a double-flexible robot.
The invention enables the flexible mechanical arm structure to move in a larger rotation range, realizes stable, accurate and quick reaching preset positioning on a larger working space, and quickly inhibits vibration, and the visual detection device at the tail end of the flexible arm can detect the pose of the flexible arm in real time, thereby having important functions on track planning at the tail end of the flexible arm and obstacle avoidance of the mechanical arm.
The invention adopts the following technical scheme:
a synchronous motion control device of a double-flexible robot comprises a machine body part, a detection driving part and a control part;
the mechanical body part is composed of a first flexible body and a second flexible body;
the first flexible body comprises a first flexible arm, a first speed reducer, a first servo motor, a first moving device, a second flexible arm, a second speed reducer and a second servo motor, one end of the first flexible arm is connected with the output end of the first speed reducer through a first flange mechanical connecting device, the other end of the first flexible arm is a free end, and the first servo motor is arranged at the input end of the first speed reducer; the base of the first speed reducer is connected with one end of the second flexible arm;
the second servo motor is connected with the input end of a second speed reducer, a base of the second speed reducer is arranged on the first moving device, the output end of the second speed reducer is connected with the other end of the second flexible arm through a second flange connecting device, and the first moving device is fixed on the test bed;
the second flexible body comprises a third flexible arm, a fourth servo motor, a fifth speed reducer and a second moving device;
one end of the third flexible arm is connected with the bracket through a third flange plate connecting device, the other end of the third flexible arm is a free end, and the bracket is fixed on the fourth servo motor; the fifth servo motor is connected with one end of a fourth flexible arm, and the other end of the fourth flexible arm is connected with the bracket; the fifth servo motor is arranged on a fifth speed reducer, the fifth speed reducer is fixed on a second moving device, and the second moving device is fixed on the test bed;
the detection driving section:
the piezoelectric actuator is arranged on the first flexible arm, the second flexible arm, the third flexible arm and the fourth flexible arm;
the control part
The control part processes the received detection signals and outputs control signals, and vibration control is carried out on the four flexible arms.
The first moving device comprises a base, a ball screw, a first sliding block and a third servo motor, the third servo motor drives the first sliding block on the ball screw to move, a base of the ball screw is fixed on the base, the base is fixed on the test bed, and a base of the second speed reducer is fixed on the first sliding block;
the second moving device comprises a linear motor, a linear guide rail and a second sliding block, the linear motor drives the second sliding block to slide on the linear guide rail, and the fifth speed reducer is fixed on the second sliding block.
The control part comprises a computer, a motion control card, a servo driver, a piezoelectric amplifying circuit and a charge amplifier;
the first, second, third, fourth and fifth servo motors are provided with corner signals detected by photoelectric encoders, the corner signals are input into a computer through a motion control card to obtain feedback signals, and the servo drivers are output through the motion control card to further drive the first, second, third, fourth and fifth servo motors to rotate;
the piezoelectric sheet sensor detects vibration signals of the first flexible arm and the second flexible arm, the vibration signals enter the motion control card through the charge amplifier and are input into the computer, after the computer obtains control signals, the control signals are output to the piezoelectric amplifying circuit through the motion control card and are amplified to drive the piezoelectric driver;
the computer is connected with the motion control card, the motion control card is connected with the servo driver, and the servo driver is connected with the first, second, third, fourth and fifth servo motors.
The first moving device and the second moving device are arranged on the test bed in parallel.
The piezoelectric sheet sensor and the piezoelectric driver of the first flexible arm are arranged at one side close to the fixed end;
the piezoelectric sheet sensor and the piezoelectric driver of the second flexible arm are arranged at one side close to the second servo motor;
the piezoelectric driver of the third flexible arm is arranged at one side of the fourth servo motor;
the piezoelectric actuator of the fourth flexible arm is disposed at the fixed end side.
The piezoelectric sheet sensor is composed of two piezoelectric sheets, the front face and the back face of the flexible arm are symmetrically stuck, and each face is one sheet.
A control method of a synchronous motion control device of a double-flexible robot comprises the following steps:
the first step is to utilize corresponding detecting element to detect the corner signal of the first, second, third, fourth and fifth servo motor, input the signal into the computer through the motion control card, the computer gets the control signal and outputs the servo driver to further control the motion of the servo motor through the motion control card;
the second step is to utilize the corresponding detection element to detect the position and speed signal of the slide block on the linear motor, output the position and speed signal to the computer for processing after inputting the motion control card, obtain the corresponding second slide block position and speed feedback signal, produce the pulse signal to control the linear motor, drive the linear motor after passing the motion control card and servo driver, carry on the closed loop control to the position and speed of the linear motor;
and thirdly, detecting vibration signals of the first flexible arm and the second flexible arm by the piezoelectric sheet sensor, entering the motion control card through the charge amplifier, inputting the vibration signals into a computer, and outputting the piezoelectric amplification circuit to drive the piezoelectric sheet driver to restrain vibration after the computer generates the control signals.
The invention has the beneficial effects that:
(1) The vibration synchronous motion control device for the flexible arm provides a vibration synchronous control method and device for the flexible arm when vibration signals of the flexible arm cannot be detected under specific conditions. The vibration-detectable flexible arm device driver is provided with a speed reducer, the vibration-controlled target flexible arm device is not provided with the speed reducer, the linear motion pair is driven by a linear motor, and the universality and the novelty of the method provided by the invention are improved by combining different driving modes.
(2) The three-degree-of-freedom flexible mechanical arm is a multi-channel input-output detection and control system, the controls are mutually coupled, a motor has analog quantity output control and pulse quantity control, motor drive control and piezoelectric drive control, and rigid-flexible coupling vibration control research of a complex flexible structure can be well simulated by using the device.
(3) The device can realize pose detection of the flexible arm by combining with the machine vision detection device, can complete the tasks of positioning, terminal path planning, obstacle avoidance and the like of the three-degree-of-freedom flexible mechanical arm by combining with the control part, and also provides a good platform for verifying various complex control strategies.
(4) The device can also perform dynamic model identification of the multi-body flexible robot through multi-sensor information fusion, and active vibration control research based on the multi-sensor.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1, a synchronous motion control device of a double-flexible robot comprises a machine body part, a detection driving part and a control part;
the mechanical body portion is comprised of a first flexible body and a second flexible body.
The first flexible body comprises a first flexible arm 1, one end of the first flexible arm is connected with the output end of a first speed reducer 5 through a first flange mechanical connecting device 4, the end is a fixed end of the first flexible arm, the other end is a free end, and a first servo motor 6 is arranged at the input end of the first speed reducer 5; the base of the first decelerator is connected to one end of the second flexible arm 7.
The second servo motor 12 is connected with the input end of the second speed reducer 11 through a flange, the base of the second speed reducer is arranged on the first moving device through a mechanical connecting device, the output end of the second speed reducer is connected with the other end of the second flexible arm 7 through a second flange connecting device 10, and the first moving device is fixed on a test bed.
The first moving device comprises a base 17, a ball screw 16, a first sliding block 15 and a third servo motor 13, wherein the third servo motor drives the first sliding block 15 on the ball screw 16 to move through a coupler 14, a base of the ball screw is fixed on the base 17, the base is fixed on a test bed, and a base of the second speed reducer is fixed on the first sliding block;
the second flexible body comprises a third flexible arm 18, a fourth flexible arm 23, a fourth servo motor 22, a fifth servo motor 26, a fifth speed reducer and a second moving device;
the fourth servomotor 22 is connected to the bracket 21 via the third flange connection device 20, the bracket being connected to one end of the third flexible arm 18, one end being the fixed end of the third flexible arm and the other end being the free end.
The fourth servo motor 22 is connected with one end of a fourth flexible arm 23, the fifth servo motor 26 is connected with the other end of the fourth flexible arm through a flange mechanical connecting device 25, the fifth servo motor is arranged on a fifth speed reducer, the fifth speed reducer is fixed on a second moving device, and the second moving device is fixed on a test bed.
The second moving device comprises a linear motor 28, a linear guide rail 27 and a second sliding block 30, wherein the linear motor drives the second sliding block fixed on a linear motor rotor 31 to slide on the linear guide rail, and the second sliding block and the fifth speed reducer are fixed together.
The detection driving part comprises a piezoelectric sensor and a piezoelectric driver.
The piezoelectric actuator 3 and the piezoelectric sensor 2 are adhered to the first flexible arm, the piezoelectric sensor 2 is a piece close to the fixed end of the first flexible arm, and the piezoelectric actuator 2 is located at the middle position of the fixed end of the first flexible arm in the width direction and is 7.5cm away from the fixed end of the first flexible arm. The piezoelectric driver 3 is formed by symmetrically pasting four piezoelectric sheets on two sides of a flexible arm, wherein each side is 2 sheets, the piezoelectric sheets are connected in parallel, the distance between the piezoelectric driver and the end of the first flexible arm of the second servo motor is 2.5cm, and the distance between the piezoelectric sheets and the upper edge and the lower edge of the first flexible arm in the width direction is 2cm.
The second flexible arms are adhered with the piezoelectric driver 9 and the piezoelectric sensors 8, the adhered positions and the number are the same as those of the first flexible arms, and the second flexible arms are specifically adhered to one end close to the second servo motor.
The third flexible arm is attached to the piezoelectric actuator 19 near one end of the fourth servomotor.
The fourth flexible arm is attached to the piezoelectric driver 24 near one end of the fifth servomotor.
The control part comprises a computer 33, a motion control card 34, a piezoelectric amplifying circuit 35, a charge amplifier 36 and a servo driver 32, wherein the computer is connected with the motion control card, the motion control card is connected with the servo driver, and the motion control card adopts a Galil motion control card in the embodiment.
The first, second, third, fourth and fifth servo motors are all provided with photoelectric encoders for detecting corner signals, the corner signals enter a computer through a channel of a motion control card, and after the computer obtains control signals, the control signals are output to a servo driver through the motion control card to further drive the servo motors to rotate.
The first flexible arm adopts the piezoelectric sensor 2 to detect the vibration signal, the second flexible arm adopts the piezoelectric sensor 8 to detect the vibration signal, the vibration signal is input into a computer after A/D conversion by a charge amplifier and then a motion control card to obtain the vibration signal, the control signal is output after the processing by the computer, the control signal is output to the piezoelectric driver 3 and the piezoelectric driver 9 after the D/A conversion by the motion control card through two channels of the analog output of the motion control card, and the vibration of the first flexible arm 1 and the second flexible arm 7 is respectively restrained after the control signal passes through the piezoelectric amplifying circuit 35; the vibration signals obtained by the measurement are calculated by a computer setting algorithm to obtain vibration control amounts required by the third flexible arm 18 and the fourth flexible arm 23, and the two channels of which analog amounts are output after the D/A conversion of the control card are respectively output to the piezoelectric driver 19 and the piezoelectric driver 24 after passing through the piezoelectric amplifying circuit 35, so that the vibration of the third flexible arm 18 and the fourth flexible arm 23 is respectively restrained.
The linear motor is provided with a grating ruler 29 to detect the position and speed signals of the second sliding block of the linear motor, the signals are output to a computer after passing through a servo driver and a motion control card 34 to obtain feedback signals of the position and the speed of the sliding block, the computer generates pulse signals for controlling the linear motor, the signals are output to the linear motor through the motion control card respectively, and double closed-loop control of the position and the speed of the linear motor is achieved.
The flexible mechanical arm structure moves in a larger rotation range, achieves stable, accurate and rapid reaching preset positioning on a larger working space, rapidly inhibits vibration, can detect the pose of the flexible arm in real time by a visual detection device positioned at the tail end of the flexible arm, plays an important role in planning the track of the tail end of the flexible arm and avoiding the obstacle of the mechanical arm,
in this embodiment, the flexible arms are made of 3mm epoxy board, the first and third flexible arms are 480mm in size, and the second and fourth flexible arms are 500mm in size; the servo motors are respectively 400W and 100W alternating current servo motors produced by Mitsubishi corporation, wherein the types of the second servo motor, the third servo motor and the fourth servo motor are HC-KFS43, the servo driver is MR-J2S-40A, the types of the first servo motor and the fifth servo motor are HC-KFS13, and the servo driver is MR-J2S-10A; the coupler can be a metal diaphragm coupler light aluminum alloy double diaphragm; the ball screw adopts an LM rolling guide rail intelligent combination unit KR structure produced by Japanese THK company, and a screw rod guide rail system with the stroke of 600mm is adopted; the first speed reducer and the second speed reducer can be flange plate output speed reducer manufactured by Neukast corporation of Germany, the model of the first speed reducer is PLFN-90, and the model of the second speed reducer is PLFN-64; the linear motor motion platform is a one-dimensional vertical linear motor motion platform of Zhengzhou micro-nano technology, the model is WMUC1536075-06-D, the platform stroke is 1400mm, the rated thrust is 58N, and the repeated positioning precision is +/-1 mu m; a4-axis motion control card model DMC-18x6PCI, manufactured by GALIL corporation, U.S.A., was used. The connection mode with the computer is PCI connection, and the direct transmission and acquisition of the data between the computer and the test bed can be realized without writing related serial port programs, so that the data conversion process is reduced, and the speed of man-machine operation and controller processing is improved.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (5)
1. The synchronous motion control device of the double flexible robots is characterized by comprising a machine body part, a detection driving part and a control part;
the mechanical body part is composed of a first flexible body and a second flexible body;
the first flexible body comprises a first flexible arm, a first speed reducer, a first servo motor, a first moving device, a second flexible arm, a second speed reducer and a second servo motor, one end of the first flexible arm is connected with the output end of the first speed reducer through a first flange mechanical connecting device, the other end of the first flexible arm is a free end, and the first servo motor is arranged at the input end of the first speed reducer; the base of the first speed reducer is connected with one end of the second flexible arm;
the second servo motor is connected with the input end of a second speed reducer, a base of the second speed reducer is arranged on the first moving device, the output end of the second speed reducer is connected with the other end of the second flexible arm through a second flange connecting device, and the first moving device is fixed on the test bed;
the second flexible body comprises a third flexible arm, a fourth servo motor, a fifth speed reducer and a second moving device;
one end of the third flexible arm is connected with the bracket through a third flange plate connecting device, the other end of the third flexible arm is a free end, and the bracket is fixed on the fourth servo motor; the fifth servo motor is connected with one end of a fourth flexible arm, and the other end of the fourth flexible arm is connected with the bracket; the fifth servo motor is arranged on a fifth speed reducer, the fifth speed reducer is fixed on a second moving device, and the second moving device is fixed on the test bed;
the first moving device and the second moving device are arranged on the test bed in parallel;
the detection driving section:
the piezoelectric actuator is arranged on the first flexible arm, the second flexible arm, the third flexible arm and the fourth flexible arm;
the piezoelectric sheet sensor and the piezoelectric driver of the first flexible arm are arranged at one side close to the fixed end;
the piezoelectric sheet sensor and the piezoelectric driver of the second flexible arm are arranged at one side close to the second servo motor;
the piezoelectric driver of the third flexible arm is arranged at one side of the fourth servo motor;
the piezoelectric driver of the fourth flexible arm is arranged at one side of the fixed end;
the control part
The control part processes the received detection signals and outputs control signals, and vibration control is carried out on the four flexible arms.
2. The synchronous motion control device of a double-flexible robot according to claim 1, wherein the first moving device comprises a base, a ball screw, a first sliding block and a third servo motor, the third servo motor drives the first sliding block on the ball screw to move, a base of the ball screw is fixed on the base, the base is fixed on a test bed, and a base of the second speed reducer is fixed on the first sliding block;
the second moving device comprises a linear motor, a linear guide rail and a second sliding block, the linear motor drives the second sliding block to slide on the linear guide rail, and the fifth speed reducer is fixed on the second sliding block.
3. The synchronous motion control device of a double-flexible robot according to claim 2, wherein the control part comprises a computer, a motion control card, a servo driver, a piezoelectric amplifying circuit and a charge amplifier;
the first, second, third, fourth and fifth servo motors are provided with corner signals detected by photoelectric encoders, the corner signals are input into a computer through a motion control card to obtain feedback signals, and the servo drivers are output through the motion control card to further drive the first, second, third, fourth and fifth servo motors to rotate;
the piezoelectric sheet sensor detects vibration signals of the first flexible arm and the second flexible arm, the vibration signals enter the motion control card through the charge amplifier and are input into the computer, after the computer obtains control signals, the control signals are output to the piezoelectric amplifying circuit through the motion control card and are amplified to drive the piezoelectric driver;
the computer is connected with the motion control card, the motion control card is connected with the servo driver, and the servo driver is connected with the first, second, third, fourth and fifth servo motors.
4. The synchronous motion control device of a double-flexible robot according to claim 1, wherein the piezoelectric sheet sensor is composed of two piezoelectric sheets, and the front and back sides of the flexible arm are symmetrically stuck, one on each side.
5. A control method of a double-flexible robot synchronous motion control device according to claim 3, comprising the steps of:
the first step is to utilize corresponding detecting element to detect the corner signal of the first, second, third, fourth and fifth servo motor, input the signal into the computer through the motion control card, the computer gets the control signal and outputs the servo driver to further control the motion of the servo motor through the motion control card;
the second step is to utilize the corresponding detection element to detect the position and speed signal of the slide block on the linear motor, output the position and speed signal to the computer for processing after inputting the motion control card, obtain the corresponding second slide block position and speed feedback signal, produce the pulse signal to control the linear motor, drive the linear motor after passing the motion control card and servo driver, carry on the closed loop control to the position and speed of the linear motor;
and thirdly, detecting vibration signals of the first flexible arm and the second flexible arm by the piezoelectric sheet sensor, entering the motion control card through the charge amplifier, inputting the vibration signals into a computer, and outputting the piezoelectric amplification circuit to drive the piezoelectric sheet driver to restrain vibration after the computer generates the control signals.
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| CN112082719B (en) * | 2020-08-14 | 2021-12-21 | 华南理工大学 | Torsional spring connected multi-flexible beam coupling vibration detection device and control method |
| CN115407714B (en) * | 2022-08-29 | 2023-08-29 | 深圳市智鼎自动化技术有限公司 | Multi-axis motion position synchronous control method |
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