静的荷重を受ける平面張弦構造の軸力決定法に関する一考察

概要

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The method to arrange the actuators on objective structures has to b6 discussed to effectively reduce the control forces or energy. In this paper, a method to determine the members to be controlled as well as the arrangement position of actuators is proposed based on the controllability gramian matrix for beam string structures. The controllability gramian matrix, which is used for evaluating the performance of robot arms in robotics, can be also defined in beam string structures. The determinant of the gramian matrix as performance criteria takes a minimum value when the matrix is singular. When the gramian matrix is non-singular, the system is controllable and the forces of actuators are determined by using minimum norm solutions of general simultaneous linear euations. The availability of the present method is shown by finding optimum locations for actuators in beam string structures.
1995-08-30