抄録
Control of flexible object is difficult. Wave control method is one of the vibration control method for flexible object. Wave control method can deal with vibration from the earlier stage compared to control based on mode analysis. Wave control method is generally applied to a lumped system, but it is difficult to apply them to a continuous system. This paper proposes a method to apply wave control method to continuous system simulating a flexible robot arm. Absolute Nodal Coordinate Formulation (ANCF) which is a one of the finite element method is used for the modeling of flexible object. In our proposition, a continuous system is transformed to a lumped system by coordinate transformation, and then wave control method is applied to a deformed continuous system. However, parameters of lumped system are generally unknown. For coordinate transformation, the motion equation of ANCF is diagonalize to obtain eigenvalues. The parameters of lumped system are determined so that the obtained eigenvalues of both systems match each other. Consequently, coordinate can be transformed by using the associated eigenvectors of each equation of motion. The validity of the proposed method is demonstrated by numerical simulations.
