The Proceedings of Mechanical Engineering Congress, Japan
Online ISSN : 2424-2667
ISSN-L : 2424-2667
2011
Session ID : J192031
Conference information
J192031 Vibration Control of a Two-Mass Resonant System Using Tip-Position Delayed Feedback
Eiichi SAITOSeiichiro KATSURA
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
Recently, light robots for space are desired in terms of reduction of arm inertia terms and cost. However, the weight saving of the robots decreases its mechanical stiffness and vibration occurs at tip-position. This vibration poses degradation of task accuracy and sometimes destruction of materials. Therefore, vibration control is important in space applications. Under such a background, a lot of vibration control methods have been researched, for example state feedback control, 1-1・control, resonant ratio control, delayed feedback control and so on. In this paper, vibration control of a two-mass resonant system using tip-position delayed feedback is proposed. Moreover, from standpoint of wave propagation, it turns out that tip-position delayed feedback and reflected wave feedforward are equivalent. In addition, it is expected that high order vibrations are suppressed by proposal because wave model is used in the proposed method. Finally, the proposed method is verified by experimental results in a two-mass resonant system.
Content from these authors
© 2011 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top