Abstract
This paper proposes a new position control method which suppresses the first mode of the vibration of a cartesian co-ordinate type flexible arm. When one-step input is applied to the flexible arm, the vibration of the arm becomes a linear combination of damped oscillations. When the second step input is applied to the flexible arm, if we choose properly the magnitudes of the second step and the interval between the first step input and the second step input, the vibration, which is generated by the first step input, can be suppressed by the vibration caused by the second step input. From the results of computer simulation arid of the experiment, the first mode of the vibration can thoroughly be suppressed by the proposed method. Because the proposed method is based on a feed-forward control, the parameter error affects the controllability. However, it is also confirmed that even if the natural frequency of the first mode varies, the flexible arm less vibrates than the case of no control.
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