| 摘要 |
PURPOSE:To evade the unstable working due to the influence of a neglected high-degree mode by attaching a strain gauge at a position where the influence of the vibration modes of degrees higher than that of the vibration mode of a soft arm. CONSTITUTION:A soft arm system 10 includes a soft arm 11, a tip 12 of the arm 11, a driving motor 13 for arm 11 and a strain gauge attached to the arm 11. The gauge 14 is set at the tip of the arm 11 distant from the side of the motor 13 by 0.2L (L: length of the arm 11). In such a constitution, the strain due to the primary mode of the arm 11 is satisfactorily detected. While the strains caused by the modes larger than the secondary mode are not virtually detected. As a result, the influence of high-degree modes are reduced to evade an unstable state of an entire control system.
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