弾性アームの最小時間状態整定制御に関する研究

抄録

A flexible robot arm is designed to realize high-speed motion as a result of the lightness of its links. However, vibration of the arm caused by high-speed motion remains after motion. In this paper, a deadbeat control scheme for a flexible arm is studied in order to speed up the motion of the arm and minimize the residual vibration at the end of the motion. First, the characteristics of the deadbeat controller for the system with single input, single rigid DOF and single elastic DOF are investigated and a switching deadbeat control scheme is proposed. The response of the system with this control is compared with that when time optimal control is used. Next, this control is applied to the flexible arm with two joints and two elastic links, and several implementation problems are discussed. Finally the effectiveness of this control is confirmed by experiment.