抄録
This paper describes a new control method that realizes a giant swing motion of a 3-DOF link horizontal bar mechanism. Trajectory of free giant swing motion represented with respect to the wrist joint-angle is utilized as a reference-trajectory in the configuration based control that was proposed in our previous study. Tracking performance is investigated minutely in cases of the continuous- and discrete-time configuration based controls. Additionally,we introduce a set of wrist joint angle-variant feedback gains to decrease the tracking error in case of the discrete-time configuration based control using a digital controller. The validity of proposed control method was shown by computer simulations.
