A Study on the Speeding Up of the Motion of a Flexible Robot Arm
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概要
- 論文の詳細を見る
This paper presents a method based on time optimal control for speeding up the motion of a flexible robot arm and minimizing the residual vibration at the end of the motion. A group of equations which makes the solving of switch times of control input much easier is derived using modal analysis. In order to improve the robustness of time optimal control against parameter variations, a learning control scheme which uses state feedback to eliminate the difference between the actual system and the estimated model is added to the open-loop control, and the gains of state feedback are determined through the learning process. The convergence of this learning control is investigated in simulation, and its effectiveness is confirmed by experiment with a flexible robot arm of one joint and one elastic link.
- 社団法人日本機械学会の論文
- 1991-09-15
著者
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Wu J
Univ. Tokyo Tokyo Jpn
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Wu Jun
Department Of Applied Physics The University Of Tokyo
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YOSHIMOTO Kenichi
Department of Mechanical Engineering for Production, University of Tokyo
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Yoshimoto Kenichi
Department Of Mechanical Engineering For Production University Of Tokyo
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Wu Jun
Department Of Mechanical Engineering For Production University Of Tokyo
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