System Preservation of Cooperative Manipulators System

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  • マニピュレータの協調作業系における保全性確保
  • マニピュレータ ノ キョウチョウ サギョウケイ ニ オケル ホゼンセイ カクホ

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Abstract

This paper proposes a method to keep stability of robotic manipulators with network connection, which are doing cooperative tasks. Such robotic manipulator systems have many possibilities, but they sometimes fail into unstable phenomenon due to the double connection: mechanical and informational connection. To aviod such unstable oscillation, the proposed method utilizes a kind of torque limiter and a notch filter.

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