223 Input Shapingを用いたフレキシブルマニピュレータの軌道追従制御

Abstract

Input shaping refers to a particular command shaping technique that exploits the convolution of the reference signal with a sequence of impulses to reduce the system vibrations. The method requires only estimates of the natural frequencies and damping ratio. Not only vibration eduction of the flexible structure, tracking of trajectory is important in the fields of both spacecraft dynamics and robotics. This paper presents a method of input-shaped control for a flexible manipulator, and shows by numerical simulations that the command input shaping technique is highly effective for the near-minimum-time tracking control.