柔軟構造物のフレキシビリティ制御 : 第4報, ロボット・マニピュレータによる柔軟構造物の補償と実験結果

抄録

This paper deals with a compensation method of deflecting flexble structures handled by a robot manipulator under gravity. A simplfied model of vibrating flexible structure is proposed in this paper, and the parameters necessary for the compensation control are identified by the extended Kalman filter. The compensation angle is estimated based on these identification data. The compensation control is carried out both by the simulations and experiments. In particular the vibration control is considered on the simulations of compensation control. Comparing these compensation results with each other, we show this compensation method is useful under the assumption that the deflection is small.