Teaching and Programing for Robots. Study on Effectiveness of Virtual Joint Model for Flexible Manipulators.

• Yoshikawa Tuneo

  Faculty of Engineering, Kyoto University

• Tamura Masato

  Faculty of Engineering, Kyoto University

Bibliographic Information

Other Title

• 作業の教示とプログラミング　　フレキシブルアームに対する仮想受動関節モデルの有効性の検討
• フレキシブルアーム ニ タイスル カソウ ジュドウ カンセツ モデル ノ ユウコウセイ ノ ケントウ

Abstract

In this paper, we verify the effectiveness of virtual joint model, which is one of the lumped parameter model, for the flexible manipulators. First, the outline of the virtual joint model approch is given, then a planer 2-DOF (degree of freedom) flexible manipulator is modeled by using virtual joint model. Second, the same manipulator is modeled by using distributed parameter model. Then experiments and simulations using the both models are performed. The effectiveness of virtual joint model is verified by comparing the dynamic behavior of each model with that of the real arm.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 17 (2), 250-259, 1999

  The Robotics Society of Japan

Keywords

• Flexible Manipulator
• Modeling
• Lumped-Parameter Model
• Distributed Parameter Model

Details

• CRID: 1390001204726731136
• NII Article ID: 10002865704
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.17.250
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL BIB ID: 4679137
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4679137
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed