Vibration Control Of Flexible Arm Research Articles

Vibration Control of Flexible Arm Based on Adaptive Robust Sliding Mode Control and LQR Control

Vibration Control of Flexible Arm Based on Adaptive Robust Sliding Mode Control and LQR Control

波動モデルに基づく指令値整形によるフレキシブルアームの振動抑制制御

波動モデルに基づく指令値整形によるフレキシブルアームの振動抑制制御

Vibration control of flexible arm by multiple observer structure

This paper describes vibration control of a flexible arm by multiple-observer structure using the accelerations of the arm. In general, a flexible arm has several oscillation modes. In the model of a flexible arm described as a two-mass resonant system, the reaction torque feedback makes the flexible arm system stable. In the N-mass resonant system, it is known that the reaction torque feedback makes all oscillation modes, only the reaction torque feedback is not enough to make the system stable. Resonance ratio control with the arm disturbance observer has been proposed. The arm disturbance observer is able to suppress the disturbance applied to the tip, but it is not sufficient for the disturbance applied to other points on the arm. The aim is to make the control system robust to arm inertia variation and disturbance. This paper proposes vibration control of flexible arm by acceleration feedback, and disturbance rejection by multiple-observer structure using the acceleration of the arm. The validity of the proposed method is shown by simulations and experiments. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 154(2): 68–75, 2006; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20175

10403 最適サーボ系による仮想受動関節でモデル化したフレキシブルアームの力と振動制御(メカトロニクス(1))

10403 最適サーボ系による仮想受動関節でモデル化したフレキシブルアームの力と振動制御(メカトロニクス(1))

Vibration Control of Flexible Arm by Multiple Observer Structure

This paper describes a vibration control of flexible arm by multiple observer structure using the accelerations of the arm. In general, a flexible arm has several oscillation modes. In case the model of flexible arm can be described as a two-mass resonant system, the reaction torque feedback makes the flexible arm system stable. In the n-mass resonant system, it is known that the reaction torque feedback makes all oscillation modes, only the reaction torque feedback is not enough to make the system stable. The resonance ratio control with the arm disturbance observer has been proposed. The arm disturbance observer is good to suppress the disturbance applied to the tip, but it is not enough to the disturbance applied to other point on the arm.The aim is to make the control system robust against arm inertia variation and disturbance. This paper proposes vibration control of flexible arm by acceleration feedback, and disturbance rejection by multiple observer structure using the accelerations of the arm. The validity of the proposed method is also shown by simulations and experiments.

Position and Vibration Control of Flexible Arm using L2 Norm Criterion.

When a light weight manipulator is moved quickly, the arm may bend and the control performance deteriorates. Such a manipulator must be modeled and controlled considering the flexibility. We propose a robust control design method for both the nonlinearity and high order modeling error caused by the arm flexibility. The control performance is evaluated based on the L2 induced norm and an optimization problem is introduced. The feedback gain is solved by using LMI framework. Experimental results show the efficiency of this control system.