書誌事項
- タイトル別名
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- A Vibration Suppression Control of Flexible Manipulator by Estimated Reaction Torque and Multiple Acceleration Feedback
- スイテイ ハンリョク フィードバック ト フクスウ ノ カソクド フィードバック ニ モトヅク フレキシブルマニピュレータ ノ シンドウ ヨクセイ セイギョ
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抄録
This paper describes a vibration control strategy to realize both vibration suppression and arm disturbance rejection of flexible manipulator with two acceleration sensors. In this paper, to simplify the model construction, the dynamical behavior of flexible manipulator is regarded as a 3 mass resonant system. In such system, only the reaction torque feedback does not have effects enough to suppress the vibration of second order oscillation mode. Furthermore it deteriorates the arm motion response in case the arm disturbance exists. To improve the above issue, this paper introduces multiple acceleration feedback of the arm. The feedback of the motor side arm acceleration suppresses the vibration of the second order oscillation mode, and by adding the acceleration feedback of arm tip side, the arm disturbance is rejected independently of the vibration suppression control. Furthermore this paper discusses a proper arrangement of two acceleration sensors. The validity of the proposed method is confirmed by numerical and experimental results.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 119 (12), 1477-1484, 1999
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679636291456
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- NII論文ID
- 10004297620
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 4924102
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可