Control of flexible robotic arms. 2nd Report. Modelling and basic control characteristics of second degree-of-freedom coupling system.

摘要

Dynamic characteristics of flexible robotic arms of the second degree-of-freedom system are modelled with consideration of the coupling between the firs and second arms, which was not dealt with in the previous paper, under the assumption that each arm vibrates only due to the bending moments. In order to suppress vibrations in positioning control, basic characteristics of flexible robotic arms must be employed for the decoupling control. Thus, the flexible arm is modelled by taking account of the inertial moments of the rigid body at each joint based on the unconstrained mode method. A control method is proposed by employing the feedback decoupling control method to compensate the coupling effects between the flexible robotic arms. Some experimental results demonstrate the effects of the proposed control method.