著者

佐藤 治 下嶋 浩 李 丁 長友 聖二

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.572, pp.p1344-1350, 1994-04

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Equations of motion of a closed-type manipulator are derived in consideration of characteristics of the step motors. Vibration control is achieved using two types of forcing functions. The first is the function of the pulse width modulation to avoid exciting resonance, and the second is the bang-bang control function on each step function. Dynamic characteristics of the system controlled by these method are analyzed theoretically and investigated experimentally.