書誌事項
- タイトル別名
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- Force Control of One-Link Robot Hand with Rubbertuator. Application of Digital Sliding Mode Control.
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抄録
We constructed a one-link robot hand by using a pair of Rubbertuators. Because of hysteresis and nonlinearity of Rubbertuator, it is too hard to formulate an accurate model. So, we tried to apply the sliding mode theory to control the Rubbertuator-driven mechanism. The sliding mode controll for continuous system have been studied well, but a digital version is required for practical applications. We confirmed the validity of the digital sliding mode control, through experiments, by using it to control the Rubbertuator-driven mechanism.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 11 (3), 461-467, 1993
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702325120
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- NII論文ID
- 10006717240
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可