Vibration Mechanism of Constrained Spatial Flexible Manipulators
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概要
- 論文の詳細を見る
For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.
- 一般社団法人日本機械学会の論文
- 2003-03-15
著者
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Kim Jin-soo
Department Of Mechanical Engineering Jeonju University
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Kim Jin-soo
Department Of Electrical Engineering Dong-a University
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Uchiyama M
Department Of Aeronautics And Space Engineering Tohoku University
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Uchiyama Masaru
Department Of Aeronautics And Space Engineering Graduate School Of Engineering Tohoku University
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KIM Jin-Soo
Department of Electrical Engineer ing and Computer Science, Korea Advanced Institute of Science
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