1P1-D08 パワーアシスト搬送を考慮した構造物の振動制御

概要

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To reduce physical burden of workers on conveying and mounting works, power assist devices have been proposed recently. In many conventional power assist devices, controlled objects are assumed as rigid bodies. The vibration control technique of conveyed flexible structures has not been fully addressed. This paper presents an effective vibration control method for conveyed mechanical structures with power assist. In this study, the power assist is realized by an impedance control method. If the impedance characteristics of the power assist device are perfectly controlled by the impedance control, the impedance characteristics are known values and correspond to the dynamic characteristics of the disturbance for the vibration reduction problem. Then, this study applies the disturbance accommodated LQ optimal control method to the vibration control. The effectiveness of the proposed method is verified by numerical calculations.
一般社団法人日本機械学会の論文
2009-05-25