425 固有振動数に基づいた 1 リンク柔軟アームの振動抑制軌道生成法

概要

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This paper deals with the optimum trajectory planning for one-link flexible arm. By using the optimum trajectories, the flexible arm can rotate from its initial position to a desired location in given movement execution time without large troublesome vibrations, and additional feedback control devices besides the controller of an existing actuator are not necessary. The method generating the optimum trajectories is based on only the natural frequencies of the flexible arm. Hence, if only the natural frequencies are known, the desired trajectories can be simply obtained in real time. Considering only the first and second natural frequency, the information needed for creating the desired trajectories is the first and second natural period, the given movement execution time, and an angle of rotation. The effect of the desired trajectories on reducing the vibrations of the flexible arm was confirmed experimentally. It is clear that the vibrations of the flexible arm were reduced enough by using the desired trajectories.
社団法人日本機械学会の論文
2002-09-13