ROBUST CONTROL IN BENDING AND TORSIONAL VIBRATIONS OF A FLEXIBLE ROBOT ARM WITH UNCERTAINTY IN PAYLOAD
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概要
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In this paper, a vibration control system design for a flexible arm that possesses bending and torsional modes is investigated. First, an experimental flexible arm is made with an auxiliary mass connected to the other end via an extension bar so that the center of the stiffness of the arm may not exist in the direction of motion of the auxiliary mass. The auxiliary mass denotes payload. A three-degrees-of-freedom (3DOF) reduced order model is identified according to Seto's procedure. Based on the model obtained, a robust control design procedure utilizing H-infinity control theory is applied. Control experiments are carried out to verify the effectiveness of the presented design procedure.
- 一般社団法人日本機械学会の論文
著者
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WATANABE Toru
Department of Medical Oncology, National Cancer Center Hospital
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Yamamoto Kousuke
Department Of Mechanical Engineering College Of Science And Technology Nihon University
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Seto Kazuto
Department Of Mechanical Engineering College Of Science And Technology Nihon University
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Seto Kazuto
Department Of Mechanical Engineering College Of Science & Technology Nihon University
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Takamura Kohei
Department of Mechanical Engineering College of Science and Technology, Nihon University
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Takamura Kohei
Department Of Mechanical Engineering College Of Science And Technology Nihon University
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Watanabe Toru
Department Of Cardiology Kinki University School Of Medicine
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Watanabe Toru
Department Of Aquatic Biosciences Tokyo University Of Fisheries
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Watanabe Toru
Department of Mechanical Engineering College of Science and Technology, Nihon University
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