書誌事項
- タイトル別名
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- Vibration and vibration control of a flexible robot arm with multiple joints subjected to a vibration force at the tip of the arm.
- センタン ニ シンドウ カジュウ オ ウケル タカンセツ フレキシブル ロボッ
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This paper presents a method for controlling the vibrations of a robot arm with multiple joints subjected to a vibration force at the tip of the arm. The method proposed here is the velocity and position feedback system having a damping effect on the robot arm during the excition. The paper derives the exact theoretical results by combining the electrical differential equations and the equation of motion of the arm with consideration of flexural vibrations. To verify the theoretical results, experimental tests were carried out for the robot arm with two joints. Both the theoretical and experimental results were in good agreement. The vibration characteristics of the general robot arm with three joints have been discussed in detail.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 52 (482), 2631-2639, 1986
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681334856704
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- NII論文ID
- 110002389647
- 130004227954
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 3100120
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可