セッションID: 1A2-20a3
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2016
開催日: 2016/06/08 - 2016/06/11
Youla Parameterizationに基づくForce Displayの２自由度制御系設計
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2016
開催日: 2016/06/08 - 2016/06/11
In force control by Master-slave system, when used in such rescue robot, vibration is added from crawler and engine. As a solution, some componets addition to the system for suppresion of the noise was proposed. But it is difficult to downsize due to the additionof the parts. Therefore, we attempted the suppression of the disturbance by two degree of freedom control usingYoula Parameterization.
