ワイヤ牽引駆動機構の先端位置決め制御 : 第2報,形状推定器を用いた適応目標値フィルタ追従制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
We have developed an adaptive reference filter to control a tip position of a wire-driven mechanism using electric motors. For the tip positioning control system following operational reference, we have to solve the problems of friction, wire slack and form state change of the tube covering the wires. We have proposed the reference filter, which compensates for the delay from motor reference to tip position caused by friction and wire slack. In this paper, we propose the adaptive reference filter, which estimates friction changed by tube shape and converts the coefficient of the reference filter. Experimental tests show that the new control method using the adaptive reference filter decreases position error to about 30〜50% less than the conventional method.
社団法人日本機械学会の論文
2004-08-25