| タイトル | Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque |
| 本文（外部サイト） | http://hdl.handle.net/2060/19890011099 |
| 著者（英） | Lee, Soo Han |
| 著者所属（英） | Georgia Inst. of Tech. |
| 発行日 | 1988-06-01 |
| 言語 | eng |
| 内容記述 | The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 89N20470
NASA-CR-184786
NAS 1.26:184786 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/142730 |
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