バックドライバビリティを有する拮抗腱駆動冗長関節ロボットの重力下での振り上げ到達運動 Reaching Movement by an Antagonistic Tendon-driven Robot with Redundancy and Backdrivability

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This paper proposes a new straightforward control method which is applicable to the reaching movement by a three degrees-of-freedom redundant manipulator in the two dimensional vertical plane with the gravitational force. This control law does not include any apparent compensator for the gravity, and not contain the Jacobian matrices. In the formulation of the arm, nonlinear springs and a tendon-driven structure are implemented in the arm according to antagonistic mechanism like the upper limb structure of the human. The proposed controller is designed based on the joint space of the robot, as a result, the singular point on the motion pathway does not appear. Finally, in the simulation of precise positioning control of the end effector, we reveal that the desired trajectories of each joint are all virtual physical quantity, to which the joint is not required to converge through the reaching movement.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 31(1), 83-88, 2013-01-15

    一般社団法人 日本ロボット学会

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各種コード

  • NII論文ID(NAID)
    10031143639
  • 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
    024233784
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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