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 [in Japanese] Vibration Suppression Control of Flexible Robot Arm by Modal Component Syntesis Method and Output Feedback Control [in Japanese]
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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.
- Marine Engineering
Marine Engineering 31(2), 100-107, 1996-02-01
The Japan Institute of Marine Engineering