ワークピースの幾何モデルを必要としないマニピュレータ・ポジショナーシステムの拘束運動制御 Coordinated Compliant Motion Control of Manipulator-Positioner Systems without Using a Workpiece Geometric Model

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著者

    • 辻尾 昇三 TSUJIO Showzow
    • 鹿児島大学工学部機械工学科 Department of Mechanical Engineering, Faculty of Engineering, Kagoshima University
    • 中村 勇人 NAKAMURA Hayato
    • 鹿児島大学大学院工学研究科博士前期課程機械工学専攻 Lower Division of Mechanical Engineering, Graduate School of Engineering, Kagoshima University

抄録

Coordinated compliant motion of two robotic devices, i.e., a manipulator-positioner system, can introduce greater flexibility and dexterity into manufacturing and improve the productivity of their processes. This paper addresses the coordinated compliant motion control of a manipulator-positioner system without using a geometric model of a workpiece. Dynamics and control of manipulators under time-dependent holonomic constraints are studied by formulating coordinated compliant motion of manipulator-positioner systems as constrained motion of a manipulator under geometric end-effector constraints imposed by a positioner. A virtual constraint plane is introduced to prescribe a desired position trajectory of an end-effector of a manipulator. A compliant motion control scheme without using a geometric model of a workpiece is realized by fusing the measurements of the articular displacements and velocities of a manipulator and a positioner and the constraint force of an end-effector of a manipulator. A numerical simulation and an experiment for coordinated contour-following tasks are conducted to demonstrate the feasibility of the proposed compliant motion control scheme without using a workpiece geometric model.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(1), pp.101-109, 1999-01-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865410
  • 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
    3087114
  • 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  NDL  J-STAGE 
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