503 劣駆動マニピュレータの運動制御 : 分岐現象の解析とその利用

• 藪野 浩司

  筑波大

• 松田 隆

  筑波大院

• 青島 伸治

  筑波大

書誌事項

タイトル別名

• Motion Control of an Under-Actuated Manipulator : Analysis and Application of Bifurcation Phenomena

抄録

We have proposed an position control method for a two-joint manipulator with the second joint free under gravitational effect. The control objective is to swing the free link from the gravitational direction to the opposite position and then to stabilize the free link at the inverted position without feedback control. In this paper, the theoretical procedure for the realization of the control is provided. The averaged equation governing the motion of the free joint is derived by using the method of multiple scales. The bifurcation analysis for the equation shows the variation of the stable equilibrium states under changing the configuration of the actuated joint. Finally, experimental results confirm the validity of the proposed control method.

収録刊行物

• 日本機械学会関東支部総会講演会講演論文集

  日本機械学会関東支部総会講演会講演論文集 2003.9 (0), 281-282, 2003

  一般社団法人 日本機械学会

キーワード

• Under-Actuated Manipulator
• High Frequency Excitation
• Nonlinear Dynamics
• Bifurcation

詳細情報

• CRID: 1390282680822086528
• NII論文ID: 110002497040
• DOI: 10.1299/jsmekanto.2003.9.281
• ISSN: 24242691
• Web Site: https://www.jstage.jst.go.jp/article/jsmekanto/2003.9/0/2003.9_281/_pdf
• 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