モードに基づく弾性関節アームの可動範囲制約内励振制御と安定性解析

抄録

This paper describes the stability analysis of the excitation controller using parallel elastic joints arm. Some researches are using elasticity for getting high kinetic energy. To increase mechanical energy, the system must be unstable. Robot arms have joint limits, the system must be stable to control to keep joints within limits. In previous research, we proposed the controller that excites based on modal energy. We analyzed the stability of the controller. We mention the result and evaluate the performance of the controller.