한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권3호
  • /
  • Pages.68-75
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  • 2000
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

유연한 로봇암의 강건진동제어

  • 발행 : 2000.03.01
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초록

The flexibility of a manipulator inevitably yields vibration at the end effector. In this work, position and vibration control for a flexible robot arm was studied using a separate voice coil type actuator to raise the accuracy and speed of end tip. A flexible robot arm with a tip mass is modeled as an Euler-Bernoulli beam. An $H_$\infty$$ controller is adapted to get a robust control against unmodeled higher-order mode vibration, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is acceptable and robust vibration control is also achieved.

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참고문헌

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