3自由度パラレルリンク型アクティブ吸振器付き搬送台車における搬送台の水平化制御

—スカイフック理論を用いた水平化制御—

抄録

This paper proposes a level control of a carrier platform on a cart with an active vibration reducer of a 3-degree-of-freedom parallel link type. The carrier platform is supported with three links, which are connected to each linear actuator. The pitch angle, the roll angle and the vertical displacement of the carrier platform are controlled by these linear actuators. The level control system is designed by using a skyhook theory. Even when the cart runs on uneven grounds, the carrier platform is always kept levelly with the active vibration reducer. The usefulness of the proposed control system is demonstrated through simulation and experimental results.