位置近似法を用いたフレキシブルアームの軌道制御  [in Japanese] Trajectory Control of Flexible Robot Arms Using Approximate Position of End Effector as the Controlled Point  [in Japanese]

Access this Article

Search this Article

Author(s)

Abstract

This paper presents a trajectory control scheme for flexible robot arms using an approximate position of the end effector as the controlled point. The scheme consists of five parts, namely, (i) selection of the approximate position to guarantee the stability of zero dynamics and the non-singularity of the inverse dynamics, (ii) computation of the corrected reference trajectory for the controlled point, (iii) transformation of the Cartesian coordinates of the con-trolled point and its reference trajectory to the equivalent joint angles assuming that the arm is rigid, (iv) derivation of the control input to make the equivalent joint angles to track their reference trajectories, (v) stabilization of the elastic vibration modes by the LQ method. Simulation results show that the accurate and stable tracking is achieved by the proposed scheme.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(1), 65-76, 2002-01-15

    The Robotics Society of Japan

References:  15

Codes

  • NII Article ID (NAID)
    10008212798
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    6042437
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
Page Top