分布圧電アクチュエータを用いたフレキシブルアームのマルチモード振動制御

抄録

This paper describes a study on the multi-mode vibration control of a miniature flexible robot arm driven by piezoelectric bimorph cells. It is well known that n actuators and sensors are required to control the nth-mode vibration of the flexible arm. However, the installation of many actuators and sensors makes the control scheme of the system complicated. In this study, the piezolectric bimorph cell was used as a distributed actuator to control the multiple-mode vibration. It is shown both theoretically and experimentally that the distributed actuator suppresses the higher-mode vibrations effectively as well as the fundamental mode of the arm.