1987 Fiscal Year Final Research Report Summary
High-Speed Motion Control of a Flexible Robot by Using Experimental Modal Analysis
| Project/Area Number |
61550092
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械工作
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| Research Institution | Kanazawa University |
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Principal Investigator |
INAMURA Toyoshiro Associate Professor, Knazawa University, 工学部, 助教授 (60107539)
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| Co-Investigator(Kenkyū-buntansha) |
SHIRASE Keiichi Research Associate,Kanazawa University, 工学部, 助手 (80171049)
YASUI Takeshi Professor, Kanazawa University, 工学部, 教授 (60110607)
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| Project Period (FY) |
1986 – 1987
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| Keywords | Vibration / Control theory / Modal analysis / Industrial Robot / 非線形 / 運動方程式 / フレキシブルアーム |
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| Research Abstract |
A new control method for a flexible robot arm has been developed. First, two methods for piecewise linearized representation of the input-output relation between a control command and the resulting end effector motion have been proposed such that they include the effect of arm flexibility through the use of measured transfer function data of the input-output relation. These methods are then used for predicting a vibratory motion of the end effector which is commanded by a trapezoidal velocity pattern to obtain a good correspondence with the actual motion. Finally, based on the results obtained above, a method to compute the control command which realizes a desired smooth motion has been developed as the inverse method of the above motion prediction. Experimental results show considerable suppression of flexibility-induced vibration of the robot arm.
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