Study on Reduction Control of Residual Vibrations of Flexible Robot Arm Using Desired Signal Planning for Joint Angle.

摘要

In this report, first, the nonlinear equations of motion of a horizontal one-link flexible robot arm are obtained by use of the mode functions of a cantilever beam with a mass. Then, the algorithm of the desired signal planning of the joint angle for the purpose of the reduction control of residual vibrations of the flexible robot arm is derived by use of the initial and final conditions of the flexural displacement of the flexible link and the constraint conditions of the desired signal of the joint angle during the acceleration and deceleration terms as well as the linearized equation of motion of the flexible robot arm. The rotation control system of the flexible robot arm is constructed with the desired signal planning for the joint angle and the PD controller. Furthermore, the numerical simulations of the rotation control of the flexible robot arm have been carried out, and it is confirmed that the residual vibrations of the flexible robot arm can be effectively reduced by the present desired signal planning for the joint angle.