弾性アームの最適軌道の設計と軌道追従制御

概要

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Robot arms with high stiffness in their structure are widely used to realize precise positioning. By lowering the weight of their links, it can be possible to improve the working speed and efficiency. However, the lack of stiffness causes vibration of the arms. In this paper, vibration control of a flexible arm at access motion is discussed. First, the dynamic model of the 3-DOF robot arm with two elastic links is described. Then, two methods are proposed for designing a trajectory which will suppress the vibration of a flexible arm. One is based on the optimal control theory using a linearized modal of a flexible arm, and the other depends on the relationship between inputs and modes of vibration. Finally, a tracking control system is presented and the effectiveness of using optimal trajectory to suppress the vibration is shown by experiments.
社団法人日本機械学会の論文
1991-03-25