フレキシブルアームの動的軌道制御における内部安定化

抄録

In the end point trajectory control of flexible manipulators, a problem of stability arises. This stability is related to the internal stability, since the elastic variables become unstable in the end point control. Some problems have been existed in the end point trajectory control of flexible manipulators considering the internal stabilization.
In this paper, first we model a 2 d.o.f. flexible manipulator based on a finit-dimensional order model. Second, we construct a dynamic trajectory controller for the flexible manipulator considering the internal stabilization, and state the problems in controllers of flexible manipulators. Third, we propose a controller using a macro-micro manipulator system which has a small rigid arm at the tip of the flexible manipulator, and show that the problems can be solved by using the macro-micro manipulator system. Lastly, Simulation and experimental results are shown.