Abstract
This paper describes an optimal starting and stopping motion control method without transient vibration for a multi-degrees of freedom flexible mechanical system involving dry friction as well as internal and external dampings. It is found that the effect of dry friction force can be approximately treated by linear analysis, if we assume residual compression of internal spring elements to oppose the friction forces at the entrance of constant speed region. The polynomial approximate solution presented in the first report is found to precisely coincide with the present strict solution in a high accelerating condition. Form experiments for a one degree of freedom vibration rotating system, marked validity of feedforward control for the flexible mechanism is confirmed.
