1A2-P18 ワイヤ懸垂型ハンドの移動制御(ワイヤ駆動系の機構と制御)
詳細
A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, we propose a motion trajectory for a wire suspended manipulator to reach as quickly as possible to the target position. The effectiveness of the obtained trajectory is verified by simulations and experiments.
