論文

1990年9月25日

2リンクフレキシブルアームの制御 : 第1報, スピルオーバに対するロバスト安定性の評価と制振実験

日本機械学會論文集. C編
  • 前川 明寛
  • ,
  • 川村 武也
  • ,
  • 田中 幸雄
  • ,
  • 石井 伸也

56
529
開始ページ
2441
終了ページ
2445
記述言語
日本語
掲載種別
DOI
10.1299/kikaic.56.2441
出版者・発行元
The Japan Society of Mechanical Engineers

An active damping control method has been applied to achieve quick positioning for a 2-link flaxible manipulator. The 2-link flexible manipulator is regarded as a distributed parameter model in consideration of mutual interaction between links. On this model the LQG(linear quadratic Gaussian) method, composed of a Kalman filter and an optimal regulator, has been applied to an active damping controller. In tuning the LQG controller, the robustness against the spillover has been evaluated in the frequency domain to confirm the stability of the closed loop system. Using the testing model, the following results were obtained : (1) The 1st mode of the vibration was completely damped. (2) The positioning time was reduced by 1/5 compared to that of the conventional control method, which feedbacks position and velocity signal of each joint.

リンク情報
DOI
https://doi.org/10.1299/kikaic.56.2441
CiNii Articles
http://ci.nii.ac.jp/naid/110002379561
CiNii Books
http://ci.nii.ac.jp/ncid/AN00187463
ID情報
  • DOI : 10.1299/kikaic.56.2441
  • ISSN : 0387-5024
  • CiNii Articles ID : 110002379561
  • CiNii Books ID : AN00187463
  • identifiers.cinii_nr_id : 9000003204760

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