Vibration Suppression Control of Flexible Robot Arm by Modal Component Syntesis Method and Output Feedback Control

• Kobayashi Nobuyuki

  青山学院大学

• Saito Osamu

  石川島播磨重工業株式会社

Bibliographic Information

Other Title

• 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
• 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

Abstract

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.

Journal

• JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN

  JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN 31 (2), 100-107, 1996

  The Japan Institute of Marine Engineering

Keywords

• Output Feedback
• Vibration Control
• Modal Component Synthesis
• Minimum Error Excitation Method
• Flexible Robot Arm
• Simulation

Details

• CRID: 1390282680138060672
• NII Article ID: 10002040730
• NII Book ID: AN00196373
• DOI: 10.5988/jime1966.31.100
• ISSN: 18844758
• ISSN: 03883051
• NDL BIB ID: 3925908
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3925908
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed