関節角目標値計画法と外乱オブザーバを用いたフレキジブルロボットアームの残留振動抑制制御の実験

フォーマット:

論文

責任表示:

小島, 宏行 ; 戸塚, 輝成 ; 近藤, 厚哉

言語:

日本語

出版情報:

日本機械学会, 2000-06-25

著者名:

• 小島, 宏行
• 戸塚, 輝成
• 近藤, 厚哉

掲載情報:

日本機械学會論文集. C編

ISSN:

0387-5024    

巻:

66

通号:

646

開始ページ:

1876

終了ページ:

1881

バージョン:

VoR

概要:

application/pdf<br />Journal Article<br />In this report, the rotation control system of the flexible robot arm is constructed with both the desired signal planning algorithm of the joint angle and the tracking controller. The tracking controller consists of the PD controller and the disturbance observer. Then, the experiments of the rotation control of the flexible robot arm have been carried out. As the results, it is seen that the … residual vibrations of the flexible robot arm can be remarkably reduced. Therefore, the usefulness of the present rotation control system of the flexible robot arm using the desired signal planning method of the joint angle and the disturbance observer is confirmed experimentally. 続きを見る