フレキシブルアームの弾性変形に注目した最適化入力の設計と制御

概要

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A flexible arm has been developed as one of the solutions to improvement of the work speed and energy efficiency of a robot arm. The control which considers the vibration of the elastic links is necessary for a flexible arm to complete the precise positioning of the joint angles. This paper treats two matters. One is the design of the optimal torque inputs to the joints which suppress the vibration of the elastic links. These inputs are designed with both the linearized model of a fiexible arm and the nonlinear one. And the optimal control theory is used for design. The other is the design of a tracking control system which is composed of the feedforward and feedback control. The optimal inputs are applied to the feedforward control, and the feedback control is dependent on the optimal regulator. The effect of the control system is shown by the experiments.
社団法人日本機械学会の論文
1991-11-25