マクローマイクロシステムによるフレキシブルアームの動的軌道制御

抄録

In this paper, a dynamic trajectory tracking controller for a macro-micro manipulator system is proposed, in which the dynamics of the system is considered. The macro-micro manipulator system is a system consisting of a wide-range, low-response manipulator as a macro part, and a narrow-range, high-response micro part at the tip of the macro part. When the proposed scheme is applied to the system, the macro part is controlled by PD feedback controller for each joint, while the micro part is controlled to track the desired trajectory considering the dynamics of the whole system. An experimental result demonstrates the effectiveness of the proposed control scheme.