This paper introduces a modified reduced-order model with aim to use in the dynamic analysis of flexible robot-manipulators. The model structure is firstly discussed theoretically, then numerically, and finally experimentally in terms of efficiency, utility and robustness. Due to the deterministic structure of the model, which is formed by taking into account the specific features of the system, a successful model can be created without the need for wide range of training data such in probabilistic methods. Because of the simplicity of the model, it is able to realize a dramatic decrease in the analysis period compared to FEA programs. The model is also quite successful in reflecting the robot’s nonlinear trigonometric position responses. Besides, an open loop model-associative vibration control method was used to show the utility and satisfactory results were achieved in the actual system. Furthermore, the ability of the model to perform multiple scenarios in a short time allowed the case-study of the control input parameters.

本文介绍了一种改进的降阶模型，旨在用于柔性机器人操纵器的动态分析。首先从效率，效用和鲁棒性的角度对模型结构进行了理论上的讨论，然后进行了数值讨论，最后通过实验进行了讨论。由于模型的确定性结构是通过考虑系统的特定特征而形成的，因此可以创建成功的模型，而无需诸如概率方法中的大量训练数据。由于该模型的简单性，与FEA程序相比，它可以大大缩短分析周期。该模型在反映机器人的非线性三角位置响应方面也非常成功。除了，开环模型关联振动控制方法表明了该方法的实用性，在实际系统中取得了满意的效果。此外，模型在短时间内执行多种情况的能力允许对控制输入参数进行案例研究。