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-O03
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ワイヤ干渉駆動型長尺多関節アームSuper Dragonの実規模スケールにおける探索動作の位置精度調査
*髙田 敦難波江 裕之鈴森 康一木倉 宏成高橋 秀治遠藤 玄
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This paper describes an investigation of the position accuracy of a long-reach coupled tendon-driven robot arm. An operational test of the arm was conducted in a full-scale field. Tip positions estimated using joint angles were compared with the tip position measured by the laser scanner. As a result, the tip position error in the yaw bending posture was larger than that in the horizontal posture. The reason is that the torsional deformation was caused by gravity. In the future, we will conduct calibration of joint sensors and modeling of deformation error caused by gravity.

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