Mechanical Engineering Laboratory, Ministry of International Trade and Industry
抄録
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.
雑誌名
IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society
Position control system of a two degree of freedom manipulator with a passive joint
00103478.pdf
(474.25KB)
