剛体運動系のモデル獲得と制御 : 第2報, 構造的非線形性と非線形駆動力特性, 重力, 摩擦を有する2自由度リンク機構の場合

概要

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This paper proposes a control method for a rigid body motion system which has unknown nonlinearities such as variation of inertia, corioli's force, nonlinear driving system, gravity and friction. Sisce feedback control has delay, it is insufficient for precise tracking control in motion system. Then, feed forward control is necessary. In order to execute feed forward control for uncertain of unknown motion systems, the control system to obtain the motion model must be implemented in the control system. In this paper a method of obtaining the motion model is proposed. It gets possible no consitute inverse dynamics of the motion system and feed forward control by this method. In this paper the method of obtaining the motion model is derived by hyper stable theory. Further, this paper shows the effectiveness of the proposed motion control method by demonstrating an experiment of tracking desired trajectory in a 2 Degrees of Freedom link motion system.
一般社団法人日本機械学会の論文
2000-09-25