Vibration Control of a Slider Pendulum-Type Loader Arm Driven by a Software-Cam Curve
Kazuo Yamafuji* and Tetsuya Komine**
*Dept. of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182, Japan
**Graduate Student, The University of Electro-Communications
This paper describes the control methods, computer simulation and experimental results on the vibration control of the loader arm which is composed of a horizontal slider and a pendulum-type arm suspended from it. In order to achieve high-speed driving and accurate positioning of the loader arm without residual vibration, one of the software-cam curves, termed the “modified sine curve,” was applied to drive the loader. The cam curve was described numerically on a personal computer. Three control methods together with highgain feedback control are proposed, in which the path and velocity of the slider and the swing angle of the arm are controlled according to the prescribed software curves. Experimental results show that driving of the loader with such a software curve and control of it under the limitation of the maximum swing angle of the arm are very effective for rejection of residual vibration and accurate positioning of the loader.
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