探索を用いた経路制御手法の提案とその応用(機械力学,計測,自動制御)

概要

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In this paper, we present a new path control method with search and the application of the method. A desired point that is at a minimum distance from the present position is searched and the distance is set along the standard axis of the coordinate transformations. A mechanical system in an orthogonal coordinate system is transformed into a mechanical system in a rotational and moving coordinate system. The transformed system can be decoupled and decomposed into a path error component and a error component of moving direction. The path error component is approximately equal to the path error that can converge to zero by the control system of the path error component. The error componet of moving direction is evaluated by means of the total moving distance and the present position is converge to a desired position by the control system of the error component of moving direction. Subsequently, essential path control for arbitrary curve paths can be realized by using the proposed method. The proposed control method is applied to multi-axis linear motor tables, and its effectiveness is confirmed experimentally.
一般社団法人日本機械学会の論文
2007-08-25