２リンクトルクユニットマニピュレータの粘性摩擦を考慮した姿勢制御について

―周期入力を利用した第２リンクの制御実験―

抄録

In this research, we consider a posture control problem of the planer two-link torque unit manipulator under viscous friction condition. The torque unit is a module which consists of an electric motor and a reaction wheel. The friction arising from the presence of a viscous environment cannot be ignored in the real system. In this report, we show by numerical simulation that the rotation angle of the second link can be controlled to 0 by using a periodic input. Next, as a verification experiment, we confirm that the first link and the second link perform periodic motion by giving a periodic input to the torque unit. Then we show that the rotatation angle of the second link can be controlled to 0 by a verification experiment.