多リンクフレキシブルマニピュレータの制振駆動

概要

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This paper describes a motion and vibration control method of a muulti-link flexible SCARA robot whose task is Point-to-Point motion. Because proposed optimal vibration control trajectory is a type of modified trapezoid velocity trajectory, the limitations of velocity and driving torque of each joint can easily be considered at the trajectory design. Equations of motion which are linearlized at the initial and final configurations are used as restrictions in the optimal control theory. Practical implementation of the feedforward and feedback control into an available velocity feedback circuit is also presented. Simulation and experimental results show significant vibration reduction effects of the proposed method. It is concluded that the nonlinear effects can be suppressed enough by velocity feedback control while they are not considered in trajectory design.
社団法人日本機械学会の論文
2000-05-25