フレキシブルロボットアームの制御 : 第3報, 3自由度系の最適振動抑制制御と感度解析

抄録

This paper deals with the modeling and control method of a flexible robotic arm with three degrees of freedom. Under the assumption that the links vibrate both transversely and torsionally, the dynamics of the three-degrees-of-freedom flexible robotic arm are derived. To estimate the state, an observer with full rank is employed. Then the control algorithm is designed by using an optimal control theory based on the quadratic performance index approach. This control method is shown to suppress the coupled vibrations. Sensitivity analysis is made for the case that the payload's weight, the link's length, and damping coefficients of the flexible robotic arms are inaccurate. When the system has parameter errors, the stability of the closed-loop system with the optimal feedback gain is not necessarily assured. A method to find the stable domain of these parameters is presented and some simulation results are demonstrated.