位置近似法を用いたフレキシブルアームの軌道制御 Trajectory Control of Flexible Robot Arms Using Approximate Position of End Effector as the Controlled Point

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This paper presents a trajectory control scheme for flexible robot arms using an approximate position of the end effector as the controlled point. The scheme consists of five parts, namely, (i) selection of the approximate position to guarantee the stability of zero dynamics and the non-singularity of the inverse dynamics, (ii) computation of the corrected reference trajectory for the controlled point, (iii) transformation of the Cartesian coordinates of the con-trolled point and its reference trajectory to the equivalent joint angles assuming that the arm is rigid, (iv) derivation of the control input to make the equivalent joint angles to track their reference trajectories, (v) stabilization of the elastic vibration modes by the LQ method. Simulation results show that the accurate and stable tracking is achieved by the proposed scheme.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(1), 65-76, 2002-01-15

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10008212798
  • 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
    6042437
  • 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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