抄録
In this research, we study on posture control of a rotating link system with a torque unit under frictional condition. The torque unit is a module which consists of a motor and a reaction wheel. First, we consider the effect of viscous friction to the posture control of a manipulator with a free joint. Second, we investigate the effect of modifications in physical parameters to the posture control. Then, we propose a control scheme applying the viscous resistance to achieve unloading of the torque unit. As a case study, we deal with a subject of the posture control of a floating robot applying the viscous resistance of water.
