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oai:gunma-u.repo.nii.ac.jp:00003437 2023-06-19T13:01:21Z 572:575:576

関節角目標値計画法と外乱オブザーバを用いたフレキジブルロボットアームの残留振動抑制制御の実験 Experiments on Reduction Control of Residual Vibrations of Flexible Robot Arm Using Desired Signal Planning of Joint Angle and Disturbance Obsever Experiments on Reduction Control of Residual Vibrations of Flexible Robot Arm Using Desired Signal Planning of Joint Angle and Disturbance Obsever 小島, 宏行 戸塚, 輝成 近藤, 厚哉 日本機械学会 本文データは学協会の許諾に基づきCiNiiから複製したものである Vibration Control Flexible Structure Mechatronics and Robotics Desired Signal Planning Method Residual Vibration Disturbance Observer application/pdf Journal Article In this report, the rotation control system of the flexible robot arm is constructed with both the desired signal planning algorithm of the joint angle and the tracking controller. The tracking controller consists of the PD controller and the disturbance observer. Then, the experiments of the rotation control of the flexible robot arm have been carried out. As the results, it is seen that the residual vibrations of the flexible robot arm can be remarkably reduced. Therefore, the usefulness of the present rotation control system of the flexible robot arm using the desired signal planning method of the joint angle and the disturbance observer is confirmed experimentally. 日本機械学会 2000-06-25 2017-03-27 jpn journal article VoR http://hdl.handle.net/10087/2733 https://gunma-u.repo.nii.ac.jp/records/3437 http://ci.nii.ac.jp/naid/110002383140/ 0387-5024 AN00187463 日本機械学會論文集. C編 66 646 1876 1881 https://gunma-u.repo.nii.ac.jp/record/3437/files/C66_1876.pdf application/pdf 509.1 kB 2020-11-25