大型柔軟ロボットアームの操作時振動抑制実験

概要

論文の詳細を見る
In flexible long arm operation, residual vibration due to excitation degrades working efficiency. Input Shaping method decreases residual vibration in flexible systems by filtering the reference command with sequence of impulses known as input shaper. The principle of Input Shaping is very simple, but it is necessary to consider implementation hardware, especially in the space system. In this paper, ground experimental setup of an 8m long space robotic arm is constructed, and the effect on vibration suppression using Input Shaping is considered. The results of the ground experiment are discussed.
社団法人日本航空宇宙学会の論文
2008-05-05