準動的な補正項をもつ状態オブザーバによる平面2リンク柔軟マニピュレータの状態推定に関する一考察

概要

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This paper describes state estimation for vibration suppression control of a flexible macro/micro manipulator system in which the flexibility of the link is considered. This macro/micro manipulator system consists of a macro and flexible manipulator and a micro and high-performance manipulator carried on the macro manipulator, like a hot-line work robot system. A vibration suppression controller using a state observer is designed based on the dynamic model. A state observer for a flexible manipulator is influenced by forced deflection and multiple vibration modes, so an observer which takes into consideration static deflection and pole assignment is proposed. The proposed observer is a hybrid of those designed for a flexible link and a rigid link. Results are composed with those from an observer for a rigid link. Simulation results for the estimation show the effectiveness of the proposed observer.
一般社団法人日本機械学会の論文
1996-09-25