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このページ(論文)をリンクする場合は次のURLを使用してください: http://hdl.handle.net/2261/6888

タイトル: 非駆動関節を有するマニピュレータの動的制御(2自由度マニピュレータの位置制御系)
その他のタイトル: Dynamic Control of a Manipulator with Passive Joints (Position Control System of a Two-Degree-of-Freedom Manipulator)
著者: 荒井, 裕彦
舘, 暲
著者(別言語): Arai, Hirohiko
Tachi, Susumu
キーワード: Robotics
Dynamic Coupling
Passive Joint
Point-to-Point Control
発行日: 1991年2月
出版者: 日本機械学会
掲載誌情報: 日本機械学會論文集. C編. vol. 57, no. 534, 1991.2, pp. 619-624
抄録: The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no addiional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two-degree-of-freedom, horizontally articulated manipulator. The first axis is an active joint and the second axis is a passive joint. While the brake of the passive joist is released, the passive joint is indirectly controlled by the motion of the active joint through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, the total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.
URI: http://hdl.handle.net/2261/6888
ISSN: 03875024
出現カテゴリ:1243010 学術雑誌論文
015 技術・工学


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