Modeling of a flexible manipulator dynamics based upon Holzer\u27s model

科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究

A Zero-placement Technique for Designing Shaped Inputs to Suppress Multiple-mode Vibration

than traditionally designed shapers of comparable duration. Computer simulations of a single-mode system demonstrated the advantages of the new shapers. MACE results collected aboard the Space Shuttle Endeavor demonstrated the shapers' vibration-reducing abiUty on real structures. Acknowledgments W

フレキシブル双腕ロボットの協調制御に関する研究

平成7年度-平成9年度科学研究費補助金(基盤研究(B)(2))研究成果報告書,課題番号.0745541

NASA Workshop on Distributed Parameter Modeling and Control of Flexible Aerospace Systems

Although significant advances have been made in modeling and controlling flexible systems, there remains a need for improvements in model accuracy and in control performance. The finite element models of flexible systems are unduly complex and are almost intractable to optimum parameter estimation for refinement using experimental data. Distributed parameter or continuum modeling offers some advantages and some challenges in both modeling and control. Continuum models often result in a significantly reduced number of model parameters, thereby enabling optimum parameter estimation. The dynamic equations of motion of continuum models provide the advantage of allowing the embedding of the control system dynamics, thus forming a complete set of system dynamics. There is also increased insight provided by the continuum model approach