제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.600-605
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- 1989
End-point control of a flexible arm under base fluctuation
- Chonan, Seiji (Department of Mechanical Engineering Faculty of Engineering Tohoku University) ;
- Sato, Hidehiro (Department of Mechanical Engineering Faculty of Engineering Tohoku University)
- 발행 : 1989.10.01
초록
A theoretical study is presented for the end-point holding control of a one-link flexible arm, whose base is subjected to a lateral fluctuation. The arm is clamped on a rigid hub mounted directly on the shaft of d.c. servomoter. The tip position is measured by a gap sensor fixed in space isolated from the system vibration. The arm is controlled so as to make the end point stay precisely at its initial position even if the base is fluctuated.
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