ソフトインターフェースを介した動的な物体操作における連続離散時間系を基にした安定性解析 Stability Analysis Based on Continuous-discrete Time System of Dynamic Object Manipulation through A Soft Interface

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抄録

We analyze the stability of dynamic object manipulation through a<I>soft interface</I>, the viscoelastic material between a manipulating finger and manipulated object. First, we model a dynamic object manipulation system through a soft interface. The system is described in continuous-discrete time. Second, we formulate the dynamics using the modified z-transform in the continuous-discrete time system for feedback and feedforward control. Thus, we show that the stability of the system depends on viscoelasticity of the soft interface for feedback control. In particular, we point out that, in critical stability, the relationship between material viscosity and sampling time is not monotonous. We also analyze this phenomenon by the root locus method. Next, we compare the stability analysis by the modified z-transform and a regular z-transform. Thus, we demonstrate that the relationship is specific to the continuous-discrete time system. Finally, we confirm the relationship experimentally.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 24(3), 349-355, 2006-04-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018132952
  • 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
    7932133
  • 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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