機構設計用シミュレーション・システム : 第4報,機構の振動解析

概要

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A method for the analysis of the eigenfrequency, eigenmode and transfer function of a link, mechanism with controllers is presented using the state equations proposed in the preceding paper (3rd Report). Because of the nonlinearity of the state equations of a link mechanism it is difficult to estimate its vibrational character. In this paper, the state equations are linearized to calculate the eigenfrequency, eigenmode and transfer function of a link mechanism coupled with controllers. The proposed method is then applied to an industrial robot.
1988-10-25