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振動抑制を考慮した直角座標型フレキシブルアームの位置制御
http://hdl.handle.net/2298/13031
http://hdl.handle.net/2298/13031b4cf7cf0-faf6-4e56-9271-7d5e1ed18e7a
名前 / ファイル | ライセンス | アクション |
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110002386357.pdf (536.6 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2009-11-11 | |||||
タイトル | ||||||
タイトル | 振動抑制を考慮した直角座標型フレキシブルアームの位置制御 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Vibration of Mechanism, Flexible Structure, Modal Analysis, Free Vibration | |||||
資源タイプ | ||||||
資源タイプ | journal article | |||||
著者 |
原田, 博之
× 原田, 博之× 三浦, 広樹× 山口, 晃生× 野田, 敦彦 |
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別言語の著者 |
原田, 博之
× 原田, 博之× Miura, Hiroki× Yayaguchi, Teruo× Noda, Atsuhiko |
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内容記述 | ||||||
内容記述 | This paper proposes a new position control method which suppresses the first mode of the vibration of a cartesian co-ordinate type flexible arm. When one-step input is applied to the flexible arm, the vibration of the arm becomes a linear combination of damped oscillations. When the second step input is applied to the flexible arm, if we choose properly the magnitudes of the second step and the interval between the first step input and the second step input, the vibration, which is generated by the first step input, can be suppressed by the vibration caused by the second step input. From the results of computer simulation arid of the experiment, the first mode of the vibration can thoroughly be suppressed by the proposed method. Because the proposed method is based on a feed-forward control, the parameter error affects the controllability. However, it is also confirmed that even if the natural frequency of the first mode varies, the flexible arm less vibrates than the case of no control. | |||||
書誌情報 |
日本機械学會論文集. C編 巻 67, 号 661, p. 2792-2797, 発行年 2001-09-25 |
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書誌レコードID | ||||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 社団法人 日本機械学会 | |||||
情報源(ISSN) | ||||||
関連名称 | 03875024 | |||||
フォーマット | ||||||
内容記述 | application/pdf | |||||
形態 | ||||||
536561 bytes | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
日本十進分類法 | ||||||
主題 | 530 | |||||
その他の言語のタイトル | ||||||
その他のタイトル | Position Control of a Cartesian Co-Ordinate Type Flexible Arm with Suppression of Vibration | |||||
タイトル(ヨミ) | ||||||
その他のタイトル | シンドウ ヨクセイ ヲ コウリョ シタ チョッカク ザヒョウガタ フレキシブル アーム ノ イチ セイギョ | |||||
出版者 | ||||||
出版者 | 社団法人 日本機械学会 | |||||
出版者(ヨミ) | ||||||
ニホン キカイ ガッカイ | ||||||
別言語の出版者 | ||||||
The Japan Society of Mechanical Engineers | ||||||
資源タイプ | ||||||
内容記述 | 論文(Article) | |||||
資源タイプ・ローカル | ||||||
雑誌掲載論文 | ||||||
資源タイプ・NII | ||||||
Journal Article | ||||||
資源タイプ・DCMI | ||||||
text | ||||||
資源タイプ・ローカル表示コード | ||||||
01 | ||||||
URL | ||||||
内容記述 | http://ci.nii.ac.jp/naid/110002386357@@@http://www.jsme.or.jp | |||||
コメント | ||||||
本文データは学協会の許諾に基づきCiNiiから複製したものである |