三次元空間内で動作する弾性アームの制御

抄録

A manipulator with three joints and one flexible link is shtidied. The flexible link is modeled as a spring element capable of torsional deflection and bending deflection. The equation of motion is deduced using Lagrange's principle. The optimal regulator and kalman filter are designed for a specified configuration of the manipulator. It is verified through simulation and experiment that the designed controller is able to control both vibration and position when step input of reference angle is applied. It is, then shown that fixed feedback gain control leads to instability or insufficient damping of vibration. Symmetry of manipulator dynamics enables the use of one feedback gain matrix at four manipulator configurations, if the specified rows and columns are assigned the proper sign. With feedback gain matrices calculated at several manipulator configurations, fast control of position and vibration is obtained for the manipulator workspace.