A real-time system customized for dynamic control of revolute manipulator レボリュート型マニピュレータの動的制御のための実時間システムの開発
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Bibliographic Information
- Title
-
A real-time system customized for dynamic control of revolute manipulator
- Other Title
-
レボリュート型マニピュレータの動的制御のための実時間システムの開発
- Author
-
黒木, 雅彦
- Author(Another name)
-
クロキ, マサヒコ
- University
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東京大学
- Types of degree
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工学博士
- Grant ID
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甲第9030号
- Degree year
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1991-03-29
Note and Description
博士論文
Table of Contents
- Chapter1.INTRODUCTION / p1 (0004.jp2)
- 1.1 Robots in Nuclear Power Plants / p2 (0005.jp2)
- 1.2 Overview of This Thesis / p3 (0006.jp2)
- References / p10 (0013.jp2)
- Chapter2.DEVELOPMENT OF DIRECT-DRIVE REVOLUTE MANIPULATOR / p12 (0015.jp2)
- 2.1 Introduction / p13 (0016.jp2)
- 2.2 Improvement of Mechanical Design / p14 (0017.jp2)
- 2.3 Design of Real Time Control System / p15 (0018.jp2)
- References / p27 (0030.jp2)
- Chapter3.INVERSE DYNAMICS FOR DYNAMIC CONTROL / p28 (0031.jp2)
- 3.1 Introduction / p29 (0032.jp2)
- 3.2 L-E Formulations / p30 (0033.jp2)
- 3.3 Customization of N-E Equations / p31 (0034.jp2)
- 3.4 Parallelism / p37 (0040.jp2)
- 3.5 Implementation / p40 (0043.jp2)
- References / p47 (0050.jp2)
- Chapter4.FEEDBACK CONTROL FOR DISTRIBUTED SYSTEM / p48 (0051.jp2)
- 4.1 Introduction / p49 (0052.jp2)
- 4.2 Simulation Environment / p49 (0052.jp2)
- 4.3 Kinematics / p52 (0055.jp2)
- 4.4 P-D Control / p54 (0057.jp2)
- 4.5 Adaptive Control / p56 (0059.jp2)
- 4.6 Simulation Results / p64 (0067.jp2)
- References / p81 (0084.jp2)
- Chapter5.CONCLUSIONS / p83 (0086.jp2)
