書誌事項
- タイトル別名
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- Trajectory Tracking Control of 2 d.o.f. Flexible Manipulator.
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抄録
In this paper, a trajectory tracking control problem of a planar 2 d. o. f. flexible manipulator is discussed. First, the equations of kinematic relationship and equations of motion are derived, using spring/mass model. From these equations, a relationship between tip trajectory and joint input torque is derived. To realize the desired trajectory, the fourth derivative of the desired trajectory with respect to time has to exist. Then a trajectory tracking controller is designed for real-time control of the flexible manipulator neglecting some small terms. A simulation result shows the effectiveness of this method.
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 11 (7), 1066-1072, 1993
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
- 1390282679702214016
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- NII論文ID
- 10006718533
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可