Vibration control of multiple mass system by estimated reaction torque
説明
This paper describes a vibration control strategy for a flexible link arm by using the feedback of estimated reaction torque. In the proposed approach, the reaction torque, which can be estimated by an observer, is fed back to achieve a stable position response. First, a model of the flexible link arm is introduced. Resonance ratio control is then applied to the semi-closed position controller of the motor portion. The dynamical behavior of the flexible link arm is then described as a multiple mass spring model which is useful for controller design and analyses. Several experimental results are also shown to confirm the validity of the proposed approach.
収録刊行物
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- Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics
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Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics 2 1091-1095, 2002-11-19
IEEE