フレキシブルアームに対する仮想受動関節モデルの有効性の検討 Study on Effectiveness of Virtual Joint Model for Flexible Manipulators
In this paper, we verify the effectiveness of virtual joint model, which is one of the lumped parameter model, for the flexible manipulators. First, the outline of the virtual joint model approch is given, then a planer 2-DOF (degree of freedom) flexible manipulator is modeled by using virtual joint model. Second, the same manipulator is modeled by using distributed parameter model. Then experiments and simulations using the both models are performed. The effectiveness of virtual joint model is verified by comparing the dynamic behavior of each model with that of the real arm.
日本ロボット学会誌 17(2), 250-259, 1999-03-15
The Robotics Society of Japan