振動する柔軟構造物のロボットによるハンドリング

概要

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In this paper, we consider the handling of a vibrating flexible structure by a robot. We suppose that the robot is rigid and the object is flexible. The robot consists of links and two end-effectors at its ends ; one end-effector is for fixing the robot on a base such as a satellite bus and the other for handling the object. The aim of this work is to realize position control of the flexible object while suppressing its vibration. The problem taken up here concerns the control system design to realize the active control of the flexible object. For this purpose, we propose a numerical modeling method of the system consisting of the robot and the object. The model is derived based on the torque requirements at the handling point. Next, we linearize the model with an identification method before designing a robust servo system using an H^∞ controller to handle the flexible object actively.
一般社団法人日本機械学会の論文
1995-03-25