Position and Vibration Control of an Elastic Rotating Arm by the Use of a Tendon Mechanism

Abstract

A tendon mechanism to control the position and the vibration of an elastic rotating arm is presented in which a motor torque is given through a driving stick and a tendon to a moment stick attached to the elastic rotating arm at a certain point. The optimal control theory taking account of the spillover of residual modes is applied to the control mechanism. By carrying out computer simulations and experiments, the usefulness of the present control mechanism and method was verified. Especially, the vibration reduction of higher modes is remarkable in comparison with the wellknown mechanism in which the edge of an arm is driven directly by a motor without a tendon.