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-O02
会議情報
2A1-O02 Physical Simulation of Low-cost "Smart" Servomotors(Mechanism and Control for Actuator (1))
Lionel SOBEHARTHiroyuki HARADA
著者情報
会議録・要旨集 フリー

詳細
抄録
Low cost "smart" servomotors widely used in robotics research present several control issues due to non-linearity at high torque and low performance controllers. Using publicly available physical simulation packages with PGS and Danztig solvers we can create very accurate faster than real-time models of a smart servomotor for use in control optimization. Simulation results are within 1.0 degree of the experimental results without external loading, and demonstrate identical non-linearity when the motor is driven above the torque limit.
著者関連情報
© 2014 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top