基于波浪荷载扰动观测器的柔性结构运动再现

Koya Nambo, S. Katsura
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引用次数: 0

摘要

运动复制系统(MCS)是保存和再现人体运动的有效方法之一。通过MCS,我们可以根据各种情况选择合适的数据,并利用机器人进行再现。在MCS中,运动再现性能非常重要。然而,在实际工业应用中,振动是由机械共振引起的。这样会降低运动再现的性能。为了避免性能下降,我们提出了考虑振动抑制的运动再现方法。利用该方法实现了柔性结构的精确运动再现。仿真结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Motion Reproduction for Flexible Structure using Wave–based Load Disturbance Observer
Motion–copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.
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