書誌事項
- タイトル別名
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- Reaching Movement by an Antagonistic Tendon-driven Robot with Redundancy and Backdrivability
- バックドライバビリティ オ ユウスル キッコウケンクドウ ジョウチョウ カンセツ ロボット ノ ジュウリョク カ デ ノ フリアゲ トウタツ ウンドウ
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This paper proposes a new straightforward control method which is applicable to the reaching movement by a three degrees-of-freedom redundant manipulator in the two dimensional vertical plane with the gravitational force. This control law does not include any apparent compensator for the gravity, and not contain the Jacobian matrices. In the formulation of the arm, nonlinear springs and a tendon-driven structure are implemented in the arm according to antagonistic mechanism like the upper limb structure of the human. The proposed controller is designed based on the joint space of the robot, as a result, the singular point on the motion pathway does not appear. Finally, in the simulation of precise positioning control of the end effector, we reveal that the desired trajectories of each joint are all virtual physical quantity, to which the joint is not required to converge through the reaching movement.
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 31 (1), 83-88, 2013
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
- 1390001204730132224
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- NII論文ID
- 10031143639
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024233784
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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
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可