ＰＤＳＦ制御による直動型１リンク・フレキシブル・アームの力制御

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  • Force Control of One-Link Flexible Arms Mounted on a Linear Motor with PD and Shear Force (PDSF) Feedback

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In this paper we propose a robust force controller of flexible one-link arms with a linear motor. By using Hamilton's principle, we derive dynamic equations of the motion of the base body that the flexible arm is mounted, and the constraint force. The control synthesis is carried out in the infinite-dimensional setting, mathematical features of which give rise to stabilizing PDSF control algorithm. Experimets have been carried out and results confirm that the controllers perfom.

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