2リンクフレキシブルアームの制御 : 第2報, アームの姿勢および先端負荷変動に対するロバスド安定性の評価と実験

概要

論文の詳細を見る
An active damping control method has been applied to achieve quick positioning for a 2-link flexible manipulator. The 2-link flexible manipulator is regarded as a distributed parameter model in consideration of the mutual interaction between links. A 6-input, 2-output LQG controller was adopted as the active damping controller to avoid coupled vibration. Then the robustness against variations of the arm's configuration and its tip mass were evaluated in the time and frequency domain. Also evaluated was how a nominal arm model in the LQG controller design should be set to maintain stability against wider variations. These evaluation results have been confirmed by experiments. As a result, (1) it was impossible for the LQG controller to maintain stability beyond the boundaries of the arms configuration, and (2) a LQG controller designed with the arm model of maximum tip mass was able to maintain stability against wider variations of the tip mass.
社団法人日本機械学会の論文
1991-07-25