ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4220
File
Title
ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系
Title Alternative
Vibration and Active Control of Robotics : 1Degree of Freedom Flexible Arm System
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 吉田 和信
ヨミ ヨシダ カズノブ
別名 Yoshida Kazunobu
Subject
Vibration control
flexible robotic arm
flexbility control
dynamic compensator
minimal order observer.
Abstract

The active vibration control of a flexible robotic arm has been investigated using a positioning control system which is constructed with a DC servo-motor directly driving the arm in a horizontal plane, a micro-computer as a controller, and sensing devices. It is found that the elastic vibration originating from the arm flexibility in positioning control deviates inversely to the positioned direction, and also that the greater an input to the motor, the more noticeable becomes such an asymmetry of vibration owing to the inertia effect. A state feedback control system designed based on the optimal regulator method and the pole placement one, including a dynamic compensator with a minimal order observer, is effective on both the simultaneous control of the positioning of the motor axis and the elastic vibration of the arm. It can be said that while the modeling of the arm is restricted only to the fundamental vibration mode, an extension to multi-degree of freedom system is also expected, similar to the case treated here.

Journal Title
広島工業大学研究紀要
Volume
22
Spage
185
Epage
194
Published Date
1988
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima