2フレキシブルリンクマニピュレータのエネルギ修正法によるモード振幅の修正を考慮した制御

抄録

The IDA-PBC method ⁽¹⁾ is applied to a controller of manipulator with 2 flexible-links. A particular class of controller derived by IDA-PBC method can control amplitudes of each mode of vibration. Such a controller can remove high frequency components from feedback inputs. Some results show that the effectiveness of such a controller.