Motion and Vibration Control of a Flexible Robot Arm

摘要

Recently, the robot arm for working in the space is used than ever before, and the work of the arm has required with higher speed and higher precision. To achieve this, the structure must be lighted and as a result the natural frequency will be reduced. This will create a new problem of increased vibration that will greatly reduce the position accuracy. The purpose of this study is to control simultaneously, motion and vibration of a very flexible flat-plate structure. For this purpose, we propose an extended physical modeling technique, which is able to expand to multi-body dynamics in flexible structures. And, the 2DOF optimum integral control theory is applied to the control of motion and vibration of the structure. The result of simulation is compared with the result of the experiment. It is verified that this method is effective for high-speed motion and good vibratory control of plate structure.