電気学会論文誌D(産業応用部門誌)
特集論文
加速度制御に基づくモーションコントロールの運動学とダイナミクス
大石 潔大場 譲桂 誠一郎
著者情報
ジャーナル 認証あり

127 巻 (2007) 6 号 p. 545-553

詳細
PDFをダウンロード (821K) 発行機関連絡先
抄録

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

著者関連情報
© 電気学会 2007
次の記事

閲覧履歴
ジャーナルのニュースとお知らせ
  • 【電気学会会員の方】購読している論文誌を無料でご覧いただけます(会員ご本人のみの個人としての利用に限ります)。購読者番号欄にMyページへのログインIDを,パスワード欄に生年月日8ケタ(西暦,半角数字。例:19800303)を入力して下さい。
ダウンロード
  • 論文(PDF)の閲覧方法はこちら
    閲覧方法 (389.7K)
関連情報

J-STAGEがリニューアルされました!https://www.jstage.jst.go.jp/browse/-char/ja/

feedback
Top