Preview Tracking Control of a Flexible Manipulator

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概要

• 論文の詳細を見る

• Industrial robots are being used predominantly today for various purposes. By reducing the mass of the links of a robot, it is possible to improve its working speed and efficiency. Reduction in link mass, however, results in a lowering of stiffness, which causes problems such as a lack of precision in positioning due to the elastic deformation caused by gravity, or elastic vibrations. In this paper, it is shown that a smooth trajectory effectively reduces the elastic vibrations of a flexible manipulator. A preview control system presented previously is extended to a multiinput / multioutput case and is applied to the flexible manipulator to illustrate high tracking precision. Finally, the two schemes are combined to achieve precise tracking and good damping simultaneously.

• 一般社団法人日本機械学会の論文
• 1989-09-15

著者

• Yoshimoto Kenichi

  Faculty Of Engineering University Of Tokyo

• SUGIUCHI Hajime

  Faculty of Engineering, Yokohama National University

• Sugiuchi Hajime

  Faculty Of Engineering Yokohama National University

関連論文

• An Analysis of the Lateral Hunting Motion of a Two-Axle Railway Wagon by Digital Simulation : 2nd Report, The Results of the Simulation Experiments
• An Analysis of the Lateral Hunting Motion of a Two-Axle Railway Wagon by Digital Simulation : 1st Report, The Outline of the Mathematical Model
• Preview Tracking Control of a Flexible Manipulator
• Simulation of Man-Automobile Systems by the Driver's Steering Model with Predictability

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