2024-03-28T10:40:11Z
https://repository.dl.itc.u-tokyo.ac.jp/oai
oai:repository.dl.itc.u-tokyo.ac.jp:00000096
2022-12-19T03:41:04Z
34:35:36
9:10:14
Dynamic Control of a Manipulator with Passive Joints (Position Control System of a Two-Degree-of-Freedom Manipulator)
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)
荒井, 裕彦
452
舘, 暲
453
530
Robotics
Manipulator
Dynamic Coupling
Passive Joint
Point-to-Point Control
application/pdf
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.
journal article
日本機械学会
1991-02
application/pdf
日本機械学會論文集. C編
534
57
619
624
AN00187463
03875024
https://repository.dl.itc.u-tokyo.ac.jp/record/96/files/tachi_1991_e30.pdf
jpn