3112 2自由度フレキシブルマニピュレータの手先位置制御(マニピュレータ)

概要

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The objective of this paper is to develop a novel tip position control scheme based on an exact PDE model for a two link planner flexible manipulator with all joints revolute. The techniques employed in this paper are the potential energy shaping and damping injection via the dynamic extension. We assume that each link of the flexible manipulator is uniform Euler-Bernoulli beam. The exact model that is described by ordinary and partial differential equations with non-linear boundary conditions is derived by using Hamilton's principle. Then a tip position and strain feedback strategy is developed based on the potential energy shaping plus damping injection via dynamic extension. We prove that the controller locally stabilize the closed loop system by considering an invariant level set.
社団法人日本機械学会の論文
2007-08-08