ロッド理論を用いた超柔軟マニピュレータの制振制御

抄録

A hyper-flexible manipulator (called HFM here) contains a linear flexible body that deforms largely like a string or wire. A crane is a typical example of HFM. When handling an HFM, there are problems such as “difficulty in modelling due to large deflection” and “vibration during positioning control”. To solve these problems, a new control method for HFM is required. By using rod theory, its center of mass position can be estimated in real-time. Based on this information, a control law that is easy to implement was theoretically derived in this study. The results of the experiment showed that the vibration was damped to 5 % of the maximum amplitude in a time about 1.4 times the natural period. It was verified that the proposed method enables it to achieve effective vibration control even when large deflections occur. Dealing with noises is a main issue to be addressed in the future.