2リンクフレキシブルアームの制御 : 第1報, スピルオーバに対するロバスト安定性の評価と制振実験

抄録

An active damping control method has been applied to achieve quick positioning for a 2-link flaxible manipulator. The 2-link flexible manipulator is regarded as a distributed parameter model in consideration of mutual interaction between links. On this model the LQG(linear quadratic Gaussian) method, composed of a Kalman filter and an optimal regulator, has been applied to an active damping controller. In tuning the LQG controller, the robustness against the spillover has been evaluated in the frequency domain to confirm the stability of the closed loop system. Using the testing model, the following results were obtained : (1) The 1st mode of the vibration was completely damped. (2) The positioning time was reduced by 1/5 compared to that of the conventional control method, which feedbacks position and velocity signal of each joint.