振動自由度を有する位置決め機構の減衰を考慮した制振アクセス制御法

抄録

In this study, vibration-less access control method for a vibratory positioning mechanism with damping. As a vibratory positioning mechanism, a Cartesian Robot so-called Gantry Robot is chosen. Gantry Robots are mainly used for pick-and-place operations, in which the reaction force of the driving force acts on the vibratory base of the robots. To improve the work efficiency of the robot, it is necessary to operate the robot at high acceleration. On the other hand, the reaction force due to the high driving force generates the vibration of the base. Therefore, the purpose of this study was to clarify a drive method that does not generate residual vibration in the base even when the robot is moved at high acceleration. In this study, closed solutions corresponding to a system with damping was obtained. In the first step, the solution with the minimum heat generation which can suppress the residual vibration of the base. In the second step. a driving force solution with a first-order filter-type frequency weighting function was obtained in the optimal control theory to solve the driving force discontinuity problem while suppressing the residual vibration of the base. Furthermore, the error between the damping ratio used to derive the driving force solution and the actual damping ratio was also considered, and its effect on vibration control was also examined.