선단 부하를 갖는 병진운동 단일 링크 탄성암 선단의 closed-loop 제어

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.