書誌事項
- タイトル別名
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- Vibration Suppression Control of Flexible Robot Arm by Modal Component Syntesis Method and Output Feedback Control
- モード ゴウセイホウ ト シュツリョク フィードバック オ モチイタ ジュウナ
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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
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- 日本舶用機関学会誌
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日本舶用機関学会誌 31 (2), 100-107, 1996
公益社団法人 日本マリンエンジニアリング学会
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詳細情報 詳細情報について
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- CRID
- 1390282680138060672
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- NII論文ID
- 10002040730
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- NII書誌ID
- AN00196373
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- ISSN
- 18844758
- 03883051
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- NDL書誌ID
- 3925908
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可