2段直動型搬送機のジャークを抑制する制御

抄録

This paper considers vibration suppression of a two-mass transfer system, where the work is connected with the hand flexibly. We adopt the idea of jerk reduction of the hand. For this purpose, we derive a state equation including the jerk and acceleration of the hand. Since it contains the differential of input, it is not possible to apply standard control theory. For this reason, we modify the state equation to exclude the differential of input by introducing a new state variable. Then, we design optimal state feedback for a suitable cost function, and show that jerk reduction of the hand is effective for vibration suppression of the work. Since the state feedback containing the jerk and acceleration is not practical, we propose a computation method for an optimal feedback control law using only displacements and velocities.