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Position control system of a two degree of freedom manipulator with a passive joint
http://hdl.handle.net/2261/6881
http://hdl.handle.net/2261/68817efa20de-18c8-4145-8c04-0c82718a9399
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
00103478.pdf (474.2 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 | Position control system of a two degree of freedom manipulator with a passive joint | |||||
| 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× Tachi, Susumu |
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| 著者所属 | ||||||
| 著者所属 | Mechanical Engineering Laboratory, Ministry of International Trade and Industry | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | The authors propose a method of controlling the position of a manipulator with passive joints that have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional 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 (dof), horizontally articulated manipulator. The first axis is an active joint, and the second axis is a passive joint. While the brake of the passive joint 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, 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. | |||||
| 書誌情報 |
IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society 巻 38, 号 1, p. 15-20, 発行日 1991-02 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 02780046 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10629318 | |||||
| DOI | ||||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | info:doi/10.1109/41.103478 | |||||
| 権利 | ||||||
| 権利情報 | ©1991 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 | 549 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
