3111 任意境界拡張低次元化物理モデル設計法を適用した2リンク柔軟ロボットアームの運動と振動の制御(マニピュレータ)

概要

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The purpose of this study is to control the motion and vibration of a two-link flexible robot arm simultaneously. Using a modeling method called an 'extended reduced order physical model (extended model) with arbitrary boundary condition', a model of the robot arm has been obtained by combining each link models obtained by assuming each link as an independent arm. To connect each link, the constraint addition method is used. The validity of the obtained model is examined by comparing frequency responses of the two-link flexible robot arm. Moreover the LQI control method is applied to control motion and vibration of the robot arm. The obtained controller showed good control performance, and the experimental response agreed well with simulation response. According to these results, the effectiveness of presented modeling method is clearly shown.
社団法人日本機械学会の論文
2007-08-08