Motion control for robot manipulators with flexible joints 柔軟関節を持つロボットマニピュレータの運動制御に関する研究
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著者
書誌事項
- タイトル
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Motion control for robot manipulators with flexible joints
- タイトル別名
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柔軟関節を持つロボットマニピュレータの運動制御に関する研究
- 著者名
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楊, 剣鳴
- 著者別名
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ヤン, チェンミン
- 学位授与大学
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名古屋大学
- 取得学位
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博士 (工学)
- 学位授与番号
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甲第3463号
- 学位授与年月日
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1996-03-25
注記・抄録
博士論文
名古屋大学博士学位論文 学位の種類:博士(工学) (課程) 学位授与年月日:平成8年3月25日
目次
- Contents / p1 (0003.jp2)
- 1 INTRODUCTION / p1 (0006.jp2)
- 1.1 Definition of Robots / p1 (0006.jp2)
- 1.2 Components and Structure of Robot Manipulators / p2 (0007.jp2)
- 1.3 Control of Robot Manipulator with Flexible Joints / p6 (0011.jp2)
- 1.4 Outlines of the thesis / p8 (0013.jp2)
- 2 DYNAMIC MODEL FOR MANIPULATOR WITH FLEXIBLE JOINTS(MFJ) / p10 (0015.jp2)
- 2.1 Introduction / p10 (0015.jp2)
- 2.2 Dynamic Model for MFJ / p11 (0016.jp2)
- 2.3 Properties of the Model / p14 (0019.jp2)
- 2.4 Examples / p18 (0023.jp2)
- 2.5 Conclusion / p22 (0027.jp2)
- 3 ADAPTIVE CONTROLLER FOR MFJ WITH POSITION AND VELOCITY FEEDBACK / p24 (0029.jp2)
- 3.1 Introduction / p24 (0029.jp2)
- 3.2 Formulation of the Model,Some Assumptions and Notations / p25 (0030.jp2)
- 3.3 Adaptive Control Law Design / p27 (0032.jp2)
- 3.4 Robustness Respect to the Unmodeled Dynamics / p30 (0035.jp2)
- 3.5 Experimental results for the proposed adaptive controller / p33 (0038.jp2)
- 3.6 Conclusion / p36 (0041.jp2)
- 4 ROBUST CONTROLLER FOR MFJ WITH POSITION AND VELOCITY FEEDBACK / p39 (0044.jp2)
- 4.1 Introduction / p39 (0044.jp2)
- 4.2 Formulation of the Model,Some Notations and Assumption / p41 (0046.jp2)
- 4.3 Robust Control Law Design / p42 (0047.jp2)
- 4.4 Robustness Respect to Unmodeled Dynamics / p47 (0052.jp2)
- 4.5 Simulation and Experiment / p48 (0053.jp2)
- 4.6 Conclusion / p51 (0056.jp2)
- 5 NONLINEAR TRACKING CONTROLLERS WITH SLIDING OBSERVER / p56 (0061.jp2)
- 5.1 Introduction / p56 (0061.jp2)
- 5.2 Some Notations and Assumptions / p57 (0062.jp2)
- 5.3 Design of the Nonadaptive Controller without Observer / p58 (0063.jp2)
- 5.4 Design of the Nonadaptive Controller with Sliding Observer / p61 (0066.jp2)
- 5.5 Design of the Adaptive Controller with Robust Sliding Observer / p67 (0072.jp2)
- 5.6 The Effects of Noise / p71 (0076.jp2)
- 5.7 Simulation Results / p74 (0079.jp2)
- 6 H∞ CONTROLLERS FOR MRJ AND MFJ / p88 (0092.jp2)
- 6.1 Introduction / p88 (0092.jp2)
- 6.2 H₂ Controller for MRJ / p89 (0093.jp2)
- 6.3 H∞ optimal controller for MRJ / p93 (0097.jp2)
- 6.4 Robust H∞ control for MFJ / p101 (0105.jp2)
- 6.5 Simulation Results / p108 (0112.jp2)
- 6.6 Conclusion / p111 (0115.jp2)
- 7 CONCLUSION / p115 (0119.jp2)
- 7.1 Summary / p115 (0119.jp2)
- 7.2 Further Research / p118 (0122.jp2)
- ACKNOWLEDGEMENT / p120 (0124.jp2)
- REFERENCES / p121 (0125.jp2)