フレキシブルロボットアームの制御 : 第4報, 3自由度系に関する制御実験

概要

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The objective of this paper is to verify the effectiveness of the control method and sensitivity analysis by experiments which were described in the previous paper. Here, a two-link flexible robotic arm with three degrees of freedom is employed in experimental equipment, and force sensors and encoders are employed as sensors. In particular the force sensor is used to suppress the vibrations of the flexible arm. First, it is shown that the residual vibrations in positioning control can be suppressed by the state feedback control method with optimal gains. Second, it is shown that the closed-loop system by using the optimal control theory becomes unstable when parameter's uncertainties such as the second arm's length or payload weight are included. Thus the allowance of parameter variations given by this paper is verified by both simulated and experimental studies.
一般社団法人日本機械学会の論文
1991-07-25