マニピュレータにおける受動性のロバスト性について
2001 年 19 巻 1 号 p. 75-80
詳細
2001 年 19 巻 1 号 p. 75-80
In this paper, we discuss on robustness of manipulators. The main result of this paper is the following. We showed that the property of passivity is satisfied in case of one link flexible manipulator. That is, if we regard the joint angular velocity as the output variable and the joint torque as the input valuable, then the system from the input to the output becomes passive. For n-link-flexible manipulator we showed the similar result using an approximated model.
