３自由度フレキシブル・マニピュレータのモデリングと加速度センサを用いた振動制御

• 坂和 愛幸

  大阪大学基礎工学部

• 松野 文俊

  大阪大学基礎工学部

• 大澤 善樹

  大阪大学基礎工学部

• 清原 誠

  大阪大学基礎工学部

• 阿部 敏久

  大阪大学基礎工学部

書誌事項

タイトル別名

• Modeling and vibration control of a flexible manipulator with three axes by using accelerometers.

抄録

Industrial robots have lumped flexibility at joints as well as distributed flexibility due to elasticity of arms. Because of the flexibility, undesirable vibration occurs during motion. In this paper, an equivalent spring which represents the flexibility is introduced, and equations of motion of robot links and equations of vibration of end-effector are derived by using Lagrangian dynamics. Motor torques should be controlled in such a way that required response of motor positions is achieved and at the same time the vibrations disappear as quickly as possible. For measuring the vibrations, three accelerometers are installed at the tip of the forearm. A robust feedback control law is derived by using the root locus technique. Several successful experimental results are shown.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 6 (1), 42-51, 1988

  一般社団法人 日本ロボット学会

キーワード

• Flexible manipulator
• Spring model
• Accelerometer
• Vibration control

詳細情報

• CRID: 1390282679703864576
• NII論文ID: 130000849787
• DOI: 10.7210/jrsj.6.42
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可