抄録
While conventional flexible systems were based on the assumption with elasticity at links and/or joints, much more flexible structures without elasticity such as strings, wires, ropes and tethers are considered and called as “hyper-flexible” systems in this paper. One of their discrete dynamic models can be represented by underactuated manipulator with serial rigid links connected by free joints. However even its controllability is difficult to be shown, possible control goals are considered for this system, for instance, dynamic stabilization and impedance control. These control methods are developed through analysis of dynamic behaviors of FJM model using the averaging method. For the system under gravity, inclined configuration other than gravitational vertical ones is shown to be dynamically stabilizable by vibratory input. Sliding mode control is applied to achieve faster approach to the destination. The dynamic stabilization also has impedance property and the impedance can be designed by modulation of parameters of vibratory input.
