負荷側オブザーバのノミナル剛性設計に基づく柔軟マニピュレータの位置制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2019/08/01

タイトル(英語): Position Control of Flexible Manipulator based on Nominal Stiffness Design of Load Side Observer

著者名: 中村　尭子（横浜国立大学工学府／神奈川県立産業技術総合研究所），下野　誠通（神奈川県立産業技術総合研究所／横浜国立大学工学研究院）

著者名(英語): Akiko Nakamura (Graduate School of Engineering, Yokohama National University/Kanagawa Institute of Industrial Science and Technology), Tomoyuki Shimono (Kanagawa Institute of Industrial Science and Technology/Faculty of Engineering, Yokohama National University)

キーワード: 二慣性共振系，外乱オブザーバ，振動抑制　　two mass resonance system，disturbance observer，vibration suppression

要約(英語): When controlling a robot arm that includes flexible structures such as space manipulators, there occur problems such as vibration during operation and errors between commands and responses. As a result, it is difficult for operators to accurately move the manipulator, and hence precise work cannot be realised. Therefore, a control method is required to solve these problems. In this paper, a method is proposed to suppress the vibration of the flexible robot arm and enable high precision control by changing the apparent stiffness of the flexible structure based on the nominal stiffness design of the load side observer. Also, input shaping is considered to realise robust control. Simulation and experimental results of the position control of two mass resonant systems showed that the flexible structure induces vibration and that errors occur in the response. By adopting the proposed method, the above-mentioned problems are solved, and the effectiveness of the method is shown.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.139 No.8 （2019）

本誌掲載ページ: 681-688 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/139/8/139_681/_article/-char/ja/