234 スマート化フレキシブルリンク機構における運動と振動の制御 : 機構の提案および多リンクの同時スマート化(ロボットの制御I)(OS ロボットの制御)

概要

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This study is concerned with proposing and developing the motion and vibration control strategy for the flexible link mechanism in order to achieve the high performance and stability. Reducing vibration and making positioning time faster are simultaneously required in this system. First, a modeling method of the flexible multi-body systems is presented based on modal analysis. In this method, each flexible body modeled by FEM is transformed into the modal space at the 1st stage of the model reduction and then the total system is constructed by transforming the reduced model obtained by synthesizing each modal model into the modal space at the 2nd stage reduction. A smart flexible link mechanism is developed by the piezoelectric film sensors/actuators in order to achieve the required motion and vibration control performance. The control systemdesign is conducted with mixed H_2/H_∞ control problem, resulting in the enhanced performance and stability.
一般社団法人日本機械学会の論文
2001-04-20