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Dynamic Control of a Manipulator with Passive Joints in Operational Space
http://hdl.handle.net/2261/6852
http://hdl.handle.net/2261/6852c5b80736-d40e-40dd-bcd6-9228f7fd6f09
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
00210798.pdf (861.6 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2007-06-06 | |||||
| タイトル | ||||||
| タイトル | Dynamic Control of a Manipulator with Passive Joints in Operational Space | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源 | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| 著者 |
Arai, Hirohiko
× Arai, Hirohiko× Tanie, Kazuo× Tachi, Susumu |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method is also extended to path tracking control of a manipulator with passive joints. A desired path is geometrically specified in operational space. The position of the manipulator is controlled to follow the path. In this method, a path coordinate system based on the path is defined in operational space. The path coordinates consist of a component parallel to the path and components normal to the path. The acceleration of the components normal to the path is controlled according to feedback based on tracking error by using the dynamic coupling among the components. This in turn keeps the manipulator on the path. The effectiveness of the method is verified by experiments using a two-degree-of-freedom manipulator with a passive joint. | |||||
| 書誌情報 |
IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society 巻 9, 号 1, p. 85-93, 発行日 1993-02 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1042296X | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10686140 | |||||
| DOI | ||||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | info:doi/10.1109/70.210798 | |||||
| 権利 | ||||||
| 権利情報 | ©1993 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 548.3 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
