抄録
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.
