先端に振動荷重を受ける多関節フレキシブルロボットアームの振動と振動制御
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概要
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This paper presents a method for controlling the vibrations of a robot arm with multiple joints subjected to a vibration force at the tip of the arm. The method proposed here is the velocity and position feedback system having a damping effect on the robot arm during the excition. The paper derives the exact theoretical results by combining the electrical differential equations and the equation of motion of the arm with consideration of flexural vibrations. To verify the theoretical results, experimental tests were carried out for the robot arm with two joints. Both the theoretical and experimental results were in good agreement. The vibration characteristics of the general robot arm with three joints have been discussed in detail.
- 1986-10-25