著者

松野 文俊 神澤 貴雄

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.15, no.5, pp.789-794, 1997-07-15

被引用文献数

1

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In this paper, stability analysis and robust control of a force-controlled arm having a rigid tip body, of which the mass centerr lies on the central axis of the arm. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property as a robust controller is constructed. Simulations have been carried out.