モード合成法と出力フィードバックを用いた柔軟ロボットアームの制振制御 Vibration Suppression Control of Flexible Robot Arm by Modal Component Syntesis Method and Output Feedback Control
This paper presents a high accurate reduced-order model for the output feedback controller which is newly derived on the basis of the modal component synthesis method for the vibration suppression control of a flexible robot arm. The output feedback control law combined the reduced-order model and the Minimum Error. Excitation Method is designed in order to obtain the system stable condition.<BR>The presented control law gives the stable gain for the vibration suppression. From the comparison of the numerical simulation results with the experiment ones using a two flexible links robot arm, the proposed reduced-order model represents system response accurately. The validity of the proposed output feedback law to suppress the vibration of the robot arm is verified by carrying out the experiment.
日本舶用機関学会誌 31(2), 100-107, 1996-02-01
The Japan Institute of Marine Engineering