ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-H02
会議情報
2A1-H02 軽量ワイヤ駆動アームにおける機構干渉行列を用いた非干渉化制御(ワイヤ駆動系の機構と制御)
大賀 淳一郎中本 秀一吉見 卓小川 秀樹松日楽 信人
著者情報
会議録・要旨集 フリー

詳細
抄録
We have developed a light weight wire-driven arm in order to reduce the impact with persons. We would like to use the arm for manipulation in our daily life, such as handling dishes and bringing a cup of coffee. In order to lighten the arm, we equipped all the electric motors into the body and adopted wire-driven mechanism. However this arm has coupled mechanisms, thus, in this paper we propose a controller based on a kinematical mutual matrix computation for joint decoupling control. We show that motor torque compensation computed from the matrix changing along with the variation of arm postures contributes to improve the response time of the joint angle position control.
著者関連情報
© 2008 一般社団法人 日本機械学会
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