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Position Control of a Manipulator with Passive Joints Using Dynamic Coupling
http://hdl.handle.net/2261/6851
http://hdl.handle.net/2261/6851a838651e-2411-4129-8ae5-646af6d8902d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
00086082.pdf (504.9 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 of a Manipulator with Passive Joints Using Dynamic Coupling | |||||
| 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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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper describes a method ofcontrolling the position of a manipulator composed of active and passive joints. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the activejoints are controlled. The position of the manipulator is controlled by combining these two control modes. This paper describes the basic principle of the control method and the conditions that ensure the controllability of the passive joints. An algorithm for point-to-point control of the manipulator is also presented. The feasibility of the method is demonstrated by simulations for a manipulator with two degrees of freedom. | |||||
| 書誌情報 |
IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society 巻 7, 号 4, p. 528-534, 発行日 1991-08 |
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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/10.1109/70.86082 | |||||
| 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 | 548.3 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
