ERアクチュエータの開発及びその力制御に関する基礎研究 Development of ER Actuator and Basic Study on its Force Control System

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We developed a high-performance actuator using particle-type ER fluid. This ER actuator have high torque/inertia ratio, and can respond quickly. In this paper, the force control properties of this actuator were examined experimentally. Firstly, we developed the model of ER actuator based on experiments. Then the feedback control system is designed by H∞ control theory. Lastly, the proposed control system is examined by experiments.

We developed a high-performance actuator using particle-type ER fluid. This ER actuator have high torque/inertia ratio, and can respond quickly. In this paper, the force control properties of this actuator were examined experimentally. Firstly, we developed the model of ER actuator based on experiments. Then the feedback control system is designed by <I>H</I>∞ control theory. Lastly, the proposed control system is examined by experiments.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 16(8), 1108-1114, 1998-11-15

    社団法人 日本ロボット学会

参考文献:  9件中 1-9件 を表示

被引用文献:  13件中 1-13件 を表示

各種コード

  • NII論文ID(NAID)
    10002865054
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4604018
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  IR  J-STAGE 
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