ディザを用いたフレキシブルアームの位置決め制御

抄録

In this paper, we present the feedback control of a one-link flexible arm having reduction gear friction. Tip position control was very difficult in the case of large friction treated as an equivalent viscous friction. Experiments showed that tip position. feedback control was possible by using the dither signal. We investigated the influence of the dither amplitude on linearizing the nonlinear friction and the response of feedback control. The acceleration signal from the accelometer at the arm tip, like the signal from the strain gauge at the arm root, could use feedback control for the fundamental vibration mode.