505 片持ちはり型フォークによるリフト動作の運動と振動の制御

概要

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Vibration of a large transport system is induced by its motion and the vibration prevents the next motion as the settling time is extended. This paper presents the methodology to simultaneously control the motion and vibration of a cantilevered fork as one of the large transport system. Hence, the nonstationary robust control method considering modeling error of the controlled object as the unstructured uncertainty is applied to enhance the performance for the motion control and vibration suppression by switching the robust state feedback controllers smoothly due to the motion. The usefulness of the proposed methodology is verified through the experimental examinations; consequently, the settling time of the motion and vibration of the controlled object is considerably reduced in the comparison with the result by the conventional method.
社団法人日本機械学会の論文
2006-08-06