周波数依存型モデル追従サーボ系による1リンクフレキシブルアームの接触動作を考慮した力制御

概要

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This paper presents a control method for the contact motion of the one link flexible arm. From the viewpoint of designing a simple controller, our purpose is to design the controller which dose not need a strain sensor. For this purpose, using the reduced order model derived by eliminating the dynamics of elastic modes, we design the frequency-dependent model following servo system, in which the second order low-pass filter is inserted as a precompensator. By examining the eigenvalues of the contact/non-contact closed-loop systems, we show that the proposed controller enables to realize the approaching motion with constant approaching speed, and to eliminate the excitation of elastic modes. Some experimental results show the effectiveness of the proposed control system.
1999-11-25