117 パラメータ同定器を有する 2 リンクロボットアームのロバストセンサレス制御
書誌事項
- タイトル別名
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- Sensorless Positioning Control of Two Link Robot Arms by Means of Parameter Identification
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抄録
In this study, we have extended the previous sensorless positioning control of single-link robot arm to a two-link robot arm system Sliding mode control is useful for multiple-link robot arm which contains the nonlinear characteristics at the drive system. And, in the sensorless control, a variation of coil resistance which is used as an uncertain parameter of the actuator. Such uncertain parameter has been estimated by using parameter identifier. Moreover, It has been verified that our provde control scheme is very useful for the sensorless control system with unknown parameters. we proved the usefulness by experiments.
収録刊行物
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- Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D
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Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2000 (0), 17-, 2000-09-01
一般社団法人日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1573105977005238656
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- NII論文ID
- 110002482382
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- NII書誌ID
- AA11901770
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- ISSN
- 13480235
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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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- CiNii Articles