241 不確かな曲げと捩れの発生するフレキシブルロボットアームの運動と振動のロバスト制御(制御系設計, OS-2 運動と振動のモデリングと制御(2))

概要

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This paper presents a design procedure of Hoo controller for motion and bending-torsional coupled vibration of flexible robot arm. In the case that the robot arm does not hold the inertial center of the payload, it processes uncertain bending-torsional coupled vibrations which affect in the accuracy and the stability of the controller. In this research, H_∞ robust control design scheme taking account of parameter variations as structured uncertainties is utilized to describe the uncertainty in coupled vibration to guarantee robustness against such uncertainty. The superiority of the presented controller design method is certificated.
一般社団法人日本機械学会の論文
2004-09-27