パラレルマニピュレータのヤコビ行列の特性を活かした順運動学計算法と制御系の提案および安定性解析 Proposal of a Forward Kinematics Calculating Method, a Control Law of Parallel Link Manipulators, and Stability Analysis of the Control System Taking Advantage of Characteristic of the Jacobian

この論文にアクセスする

この論文をさがす

著者

抄録

In this paper, we propose a design method of task coordinated feedback control law for parallel link manipulators (PLMs) . In general, since it is the last purpose to control the coordinates of an End-effector by a manipulator's control, a task coofdinated feedback control suits the purpose rather than a joint coordinated one. However, control with a parallel link manipulator's work coordinates has the following two problems which should be solved. First, it is difficult for PLMs to have the information of task coordinate from joint infomation, though it is easy for serial link manipulators to do this. Second, it is necessary to calculate the Inverse Matrix of Jacobian for calculating Driving force of a joint. In this paper, we propose a novel solving method of forward kinematics problem for PLMs and construct a task coordinated feedback control which used the character of Jacobian and made calculation easy. Then we prove the stability of this control system and verify the validity by the simulation and experiment.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan

    日本ロボット学会誌 = Journal of Robotics Society of Japan 22(5), 648-655, 2004-07-15

    The Robotics Society of Japan

参考文献:  8件中 1-8件 を表示

各種コード

  • NII論文ID(NAID)
    10013271608
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    7031661
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ