低剛性ロボットアームの予見追跡制御

• 杉内 肇

• 吉本 堅一

書誌事項

タイトル別名

• Preview tracking control of a flexible manipulator.
• テイ ゴウセイ ロボット アーム ノ ヨケン ツイセキ セイギョ

抄録

Industrial robots are being used predominantry today for various purposes. By reducing the mass of the links of a robot, it is possible to improve its working speed and efficiency. Reduction in link mass, however, results in a lowering of stiffness, which causes problems such as lack of precision in positioning due to the elastic deformation caused by gravity, or elastic vibrations. In this paper, it is firstly shown that a smooth trajectory effectively reduces the elastic vibrations of a flexible manipulator. Then, a preview control system presented previously is extended to a multi-input/multi-output case and is applied to the flexible manipulator to show the high tracking precision. Finally, the two schemes are combined to achieve precise tracking and good damping at the same time.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 54 (506), 2491-2497, 1988

  一般社団法人 日本機械学会

キーワード

• Automatic Control
• Application of Control
• Control System Design
• Flexible Manipulator
• Preview Control
• Model Matching

詳細情報

• CRID: 1390001206355740160
• NII論文ID: 110002391170
• NII論文ID: 130004228535
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.54.2491
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 3201448
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3201448
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/54/506/54_506_2491/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可