トルクフィードバックを用いた宇宙用多リンク柔軟マニピュレータの振動制御

概要

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In this paper, a new vibration control method for a space flexible manipulator is proposed from the viewpoint of practicability. We considered a N link SCARA flexible manipulator. The features of the proposed method are the following:<BR>(1) Basically, the control system consists of simple local feedbacks of joint angle and joint torque. Therefore, it is easy to adapt this method to constructing a controller and sensor systems in a practical system.<BR>(2) The asymptotic stability of this feedback scheme is proved for a distributed system.<BR>(3) On the other hand, the proposed method is not an optimal control method because, a dynamic compensator is not used, therefore this method is a low authority control.<BR>First the dynamics of a manipulator is derived by Hamiltons principle. Then, the control method is derived based on the artificial potential. The stability of the proposed method is also proved by the Lyapunov method of stability analysis. The validity of this method was proved by the experiments using a two link SCARA flexible manipulator “TESRA-I” Experimental results showed that the manipulator was controlled precisely without vibration.