115 HIGH SPEED POSITIONING CONTROL OF A FLEXIBLE ARM BY ACCELERATION INPUT(O.S.2 Vibration and Noise Reduction Technology III) :

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In a positioning control of flexible structures, such as robot arms and cranes, the residual vibration must be prevented for the high speed movement and the accuracy of positioning. In this paper, new methods of positioning without a feedback control are proposed. To diminish residual vibrations, the acceleration input pattern is required not to have a component of damped natural frequency of the system. The following methods are proposed: 1. The time interval between the acceleration and deceleration equals to the integral multiple of the damped natural period. 2. The pattern consists of repeated same patterns with short time intervals with a specific rule. 3. A certain parameter that forms the shape of the pattern is determined to fulfill the frequency condition. These methods are applied to the flexible robot arms. By the numerical simulation, it is found that the proposed input patterns can prevent residual vibrations. Moreover, if some of these constraints are combined, it is also found that further robustness can be obtained.

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