イノベーション過程に基づく1リンク柔軟アームの衝突発生の検知と停止制御

抄録

Damage avoidance of the flexible manipulators in collision with unlooked-for obstacle is a significant problem in industry and space programs. This paper presents a method of control for reducing damage and/or undesirable vibration of the single-link flexible arm due to collision. The detection of the collision is carried out using the detection function which was proposed recently by the author. The controller is designed to have twofold manner : i) to control the position and vibration of the flexible arm; and ii) to suspend the position control and to minimize the deformation and vibration of the arm whenever any collision has been detected. Numerical simulations and experiments are provided.