213 不確かな曲げねじれ連成が生じるフレキシブルロボットアームのロバスト振動制御

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This paper presents a design procedure of H_∞ controller for bending-torsional coupled vibration of flexible robot arm. In the case that the arm does not hold the center of the payload, it processes bending-torsional coupled vibration. In this research, H_∞ robust control design with structured uncertainties is utilized to describe the uncertainty in coupling of bending-torsional vibration. Moreover, this research designs H_∞robust control without structured uncertainties and compares the control performance of H_∞ robust control design with structured uncertainties and without structured uncertainties. In this research, an experimental system is set up and its physical model is made by utilizing the modeling method presented by Seto. According to this result, controller design method is certificated.
2003-10-30