1A1-E18 数式処理を用いたフレキシブルマニピュレータのモデル化と制御

概要

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This paper describes modeling and motion control of a flexible manipulator using a formula manipulation. Flexible arm is defined as low stiffness of a robot arm. We create a flexible manipulator model by using the formula manipulation language software MapleSim^<TM>. Using the multi-body dynamics model of the flexible manipulator we investigate the effect of elastic deformation and elastic vibration of the manipulator. The physical parameters are identified from the experimental data of the real manipulator experimental setup. Comparing between the simulations and the experiments, the effectiveness of the modeling is evaluated and clarified. PD control of the joint angles and feedback control of link base strains are applied to motion control of the flexible manipulator. We confirm the effectiveness of the proposed control method and modeling of the manipulator.