| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-03-30 |
| タイトル |
|
|
タイトル |
ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系 |
| タイトル |
|
|
タイトル |
Vibration and Active Control of Robotics : 1Degree of Freedom Flexible Arm System |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Vibration control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
flexible robotic arm |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
flexbility control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
dynamic compensator |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
minimal order observer. |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
川辺, 尚志
吉田, 和信
Kawabe, Hisashi
Yoshida, Kazunobu
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
The active vibration control of a flexible robotic arm has been investigated using a positioning control system which is constructed with a DC servo-motor directly driving the arm in a horizontal plane, a micro-computer as a controller, and sensing devices. It is found that the elastic vibration originating from the arm flexibility in positioning control deviates inversely to the positioned direction, and also that the greater an input to the motor, the more noticeable becomes such an asymmetry of vibration owing to the inertia effect. A state feedback control system designed based on the optimal regulator method and the pole placement one, including a dynamic compensator with a minimal order observer, is effective on both the simultaneous control of the positioning of the motor axis and the elastic vibration of the arm. It can be said that while the modeling of the arm is restricted only to the fundamental vibration mode, an extension to multi-degree of freedom system is also expected, similar to the case treated here. |
| 書誌情報 |
広島工業大学研究紀要
巻 22,
p. 185-194,
発行日 1988
|
| 出版者 |
|
|
出版者 |
広島工業大学 |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
03851672 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN0021271X |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
kenkyukiyo22185.pdf (2.2 MB)
