MOTION AND VIBRATION CONTROL OF A FLEXIBLE ROBOT ARM USING A NEW MODELING APPROACH

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概要

• 論文の詳細を見る

• The purpose of this study is to control simultaneously the motion and vibration of a very flexible flat-plate structure. For this purpose, we propose an extended physical modeling technique^<[2]> which is able to expand to multi-body dynamics in flexible structures. The 2DOF optimum integral control theory is applied to the control of motion and vibrations of a structure. The results of the simulation are compared to the results of experimentation. It is verified that this control method is effective for high-speed motion and provides good vibration control of the plate structure.

• 一般社団法人日本機械学会の論文

著者

• Yamamoto Shinken

  Dept. Of Mechanical Engineering College Of Science & Technology Nihon University

• Tsuchidate Kohei

  Dept. of Mechanical Engineering, College of Science & Technology, Nihon University

• Tajima Hiroshi

  Technical R & D Dept, Defense Systems Division, KOMATSU Ltd.

• Seto Kazuto

  Technical R & D Dept, Defense Systems Division, KOMATSU Ltd.

• Seto Kazuto

  Technical R & D Dept Defense Systems Division Komatsu Ltd.

• Tajima Hiroshi

  Technical R&d Dept. Defense Systems Division Komatsu Ltd.

• Tsuchidate Kohei

  Dept. Of Mechanical Engineering College Of Science & Technology Nihon University

関連論文

• MOTION AND VIBRATION CONTROL OF A FLEXIBLE ROBOT ARM USING A NEW MODELING APPROACH
• Modeling and Control of Flexible Multibody Systems : Application to Elastic Vehicles ( Multibody Dynamics)
• W-1-3-3 Motion and Vibration Analysis and Control of Elastic Vehicles using the Extended Reduced Order Physical Model
• MOTION AND VIBRATION ANALYSIS AND THE CONTROL OF AN ELASTIC VEHICLE USING AN EXTENDED REDUCED ORDER PHYSICAL MODEL

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