フレキシブルマニピュレータの残留振動を抑制させる高速駆動法（1次および2次振動モードの同時制振制御）

Abstract

In this paper, we propose a feedforward control method for suppressing residual vibrations, which consist of first and second vibration mode amplitudes, of a flexible manipulator with a point-to-point (PTP) motion. To construct the mathematical model of the manipulator system accurately, the parameters of the equations of motion are experimentally identified. In the control technique, we attempt to express the joint angle by the combination of cycloidal function and polynomial function, which is useful for analyzing natural frequencies and vibration modes of composite laminated plates and shells. The trajectory of the joint angle depends on the coefficients of the polynomial function. To cancel the residual vibrations, the coefficients are tuned by a particle swarm optimization (PSO) algorithm. By driving the joint angle of the manipulator along the optimal trajectory, not only the first vibration mode but also the second vibration mode can be suppressed after positioning, i.e., feedforward vibration control can be achieved for the high-speed positioning. Results obtained from simulations and experiments demonstrate the effectiveness and feasibility of the proposed vibration control technique.