Analysis and Contfol of a Flexible Robot Arm by Using Experimental Modal Analysis
スポンサーリンク
概要
- 論文の詳細を見る
A new control method for a flexible robot arm has been developed by using the experimental modal analysis technique. This method is based on the idea that a position-dependent input-output relation between a control command and the resulting end effector motion can be described in a piecewise linearized form constructed by combining transfer functions measured at representative robot positions. Two methods developed previously by the authors using this approach are reviewed first, and their shortcomings are described. Then a new method which overcomes these shortcomings is proposed to obtain good experimental results with regard to the predicted motion of the robot. Finally, this method is used to compute a control command which realizes the desired smooth motion of the end effector and considerable supression of the vibratory motion of the robot is observed.
- 一般社団法人日本機械学会の論文
- 1990-12-15
著者
-
Morimoto Yoshitaka
Department Of Mechanical Systems Engineering Utsunomiya University
-
Morimoto Yoshitaka
Department Of Applied Chemistry Faculty Of Engineering Osaka Institute Of Technology
-
Morimoto Yoshitaka
Department Of Mechanics And Electronics Indusrial Research Instiute Of Ishikawa
-
INAMURA Toyoshiro
Department of Mechanical Engineering, Faculty of Engineering, Kanazawa University
-
MAKITA Ryutaro
Department of Mechanical Engineering, Faculty of Engineering, Kanazawa University
-
Makita Ryutaro
Department Of Mechanical Engineering Faculty Of Engineering Kanazawa University
-
Inamura Toyoshiro
Department Of Mechanical Engineering Faculty Of Engineering Kanazawa University
関連論文
- Characterization of Wheel Surface Topography in cBN Grinding(Advanced Manufacturing Technology [I])
- Characterization of Wheel Surface Topography in CBN Grinding(CBN grinding technology)
- Cell Adhesion Scaffold Using Self-assemble β-strand Peptides
- Built up os Stimulus-responsive Hydrogels using Self-assembling β-hairpin Peptides
- Evaluation of Thermally Responsive De Novo Peptides
- OS5(P)-23(OS05W0268) Nanoscratching on Chromium Carbides in Cold Work Die Steel Using an Atomic Force Microscope
- Planar Microfluidic System Based on Electrophoresis for Detection of 130-nm Magnetic Labels for Biosensing
- Formation Mechanism of Finished Surface in Ultrahigh-Speed Grinding with cubic Boron Nitride (cBN) Wheels(Advanced Manufacturing Technology [I])
- Profile Grinding of Superalloys with Ultrafine-Crystalline cBN Wheels(Advanced Manufacturing Technology [I])
- Real-Time Synthesis and Control by Corrected Inverse Transfer Function of an NC Table(Precision positioning and control technology)
- Development of fine-coarse stage by coaxial arrangement of two stepping motors(Precision positioning and control technology)
- Profile Grinding of Superalloys with Ultrafine-Crystalline CBN Wheels(CBN grinding technology)
- Formation Mechanism of Finished Surface in Ultra-High Speed Grinding with CBN Wheels(CBN grinding technology)
- Effects of Uniformity in Wheel Structure on Grinding Characteristics of Vitrified CBN Wheels(CBN grinding technology)
- OS5(P)-22(OS05W0267) Evaluation of Local Work Affected Layer Based on Magnetic Domain Analysis Using Magnetic Force Microscopy
- 336 Study on accuracy compensation of a machining center based on measurement results of machined workpiece
- Analysis and Contfol of a Flexible Robot Arm by Using Experimental Modal Analysis
- Detection of 8 nm Diameter Superparamagnetic Beads by Magnetically-Induced Manipulation of Micrometer-Sized Magnetic Beads: A Novel Protocol for Magnetically-Labeled Biosensing
- B1 Study on Accuracy Compensation of Machining Center Based on Measurement Results of Machined Workpiece : Evaluation of Accuracy of 5-axis Controlled Machining Center(Advanced machine tool)
- Patterning of Two-Dimensional Graphene Oxide on Silicon Substrates
- Chemical Mechanical Polishing for Oxygen Free Copper with Manganese Oxide Abrasives