書誌事項
- タイトル別名
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- Mechanical Stiffness Control of Tendon-Driven Joints.
- ゴウセイ カヘン キノウ オ ユウスル キッコウキンガタケンクドウ システム ト ソノ セイギョ
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This paper presents a new method for mechanical stiffness control of the tendon-driven joints of manipulator. First one proposes a new formula for controlling joint stiffness and joint angle independently. Next, one proposes a new elastic mechanism (Non-Linear Elastic Module, NLEM) of which nonlinear elasticity is easily designed. NLEMs situated between the actuator and the tendon play a key role for mechanical control of the stiffness. Two types of NLEM are designed and evaluated numerically and experimentally. It follows a computer simulation and experiments of the stiffness and joint displacement control, which show a validity of the proposed formula. One also proposes a simple method of vibration suppression of the tendon-driven joint, which makes use of a nonlinear elasticity of NLEMs. It also follows a computer simulation to certify its validity.
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 18 (7), 1003-1010, 2000
一般社団法人 日本ロボット学会
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詳細情報
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- CRID
- 1390282679702330240
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- NII論文ID
- 10007545292
- 10021142251
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5531314
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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