懸垂機構を用いた六自由度形配管位置合せ装置の開発 : 第1報,実規模試験装置の作成と制御手法の検討

概要

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This paper mainly focused on the control system design and the control performance of the pipe positioning system. The controller was designed based on the disturbance observer concept. The pipe positioning system has a 6-DOF suspension mechanism, which consists of six servomotors and chains. A relationship between the actuator space (chain length) and task space (position and attitude of a pipe center of gravity) is expressed using the Jacobian matrix. Each element of this Jacobian matrix is generally nonlinear function in space. In this study, a disturbance observer concept was used to remove the nonlinearlity that is caused by the Jacobian matrix, then a conventional linear feedback control low was applied to the control system. The control performance was verified through experiments using a pipe with a diameter of 0.3 m. In the experiments, trajectories of the pipe center of gravity with the Jacobian nonlinearly compensation was compared to the trajectories without Jacobian compensation, and the effectiveness of the proposed pipe positioning system was shown.
一般社団法人日本機械学会の論文
2001-07-25