ステップモータで駆動される閉ループ形マニピュレータに関する研究 : 第1報,低速時の振動を抑制する制御

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.