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

この論文にアクセスする

この論文をさがす

著者

抄録

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.

収録刊行物

  • 日本舶用機関学会誌

    日本舶用機関学会誌 31(2), 100-107, 1996-02-01

    The Japan Institute of Marine Engineering

参考文献:  7件中 1-7件 を表示

各種コード

  • NII論文ID(NAID)
    10002040730
  • NII書誌ID(NCID)
    AN00196373
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03883051
  • NDL 記事登録ID
    3925908
  • NDL 雑誌分類
    ZN24(科学技術--運輸工学--船舶)
  • NDL 請求記号
    Z16-747
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ