Minimum-energy Control of a Manipulator with Two-degree of Freedom
1986 年 29 巻 248 号 p. 573-579
詳細
1986 年 29 巻 248 号 p. 573-579
A performance criterion for minimum-energy control calculated by dynamic programming is defined considering the characteristics of driving source. Such minimum-energy control is compared with near-minimum-energy control whose input signal is rectangular, and the dynamic characteristics of a manipulator controlled by these methods are analyzed theoretically and investigated experimentally.
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 1, Solid mechanics, strength of materials
