マクロ‐マイクロシステムによるフレキシブルアームの準静的軌道制御

• 吉川 恒夫

  京都大学工学部

• 細田 耕

  京都大学工学部

• 土井 利次

  京都大学工学部

書誌事項

タイトル別名

• Quasi-Static Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator System.

抄録

In this paper, a macro-micro manipulator system is proposed to realize the trajectory tracking control of a flexible manipulator system. This system has a flexible manipulator as a macro part and a rigid small manipulator on macro's tip as a micro part. A flexible manipulator can move in wide range of space while can not realize precise tracking purpose. The micro manipulator is then used to compensate the tracking eror due to the deformation of the macro manipulator. First, the concepts of compensatability and compensatability measure for the macro-micro manipulator system are introduced. Second, considering the redundancy of the system, path planning is discussed to keep the compensatability measure as large as possible during the whole work phase. Then, a quasi-static trajectory tracking control system is proposed to realize the planned path. Simulation results show the effectiveness of the proposed method.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 11 (1), 140-147, 1993

  一般社団法人 日本ロボット学会

キーワード

• Macro-micro manipulator system
• Redundancy
• Path planning
• Compensatability
• Trajectory tracking control

詳細情報

• CRID: 1390001204726954880
• NII論文ID: 10006716489
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.11.140
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可