• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1800-1803
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• 1997

This paper presents new feedback actuators to achieve an accurate position control of a flexible gnatry robot arm. the translational motion in the plane is generated by two d.c.motors and controlled by emplying elecor-rheological(ER) clutch acutators. The generated motion can be continuously controlled by controlling the intensity of lectric field imposed to the ER fluid domain which tunes the transmitted torque of the ER clutch. n the other hand, during control action of the translational motion a flexible arm attached to the moving mass produces undesirable oscillatins due to its inherent flexibility. The oscillations are actively suppressed by applying feedback voltages to piezoceramic acutators bonded on the surface of the flexible arm. The control electric fields to be applied to the ER clutch and the control voltage for the piezoceramic actuator are determined via the loop shaping esign procedures(LSDP) in the H.inf. control technique. Comsequently, an accuate positiion control at the end-point of the flexible am is achieved during planar motion.