２リンクトルクユニットマニピュレータの姿勢制御

―空気抵抗を受けるリアクションホイールの適用―

抄録

In this research, we study on posture control of a planar two-link torque unit manipulator which has revolute joints with viscous friction. The torque unit is a module that consists of an electric motor and a reaction wheel, and it can be set to an arbitrary position of the link as an actuator to control the rotating link with free joint. However, the system is uncontrollable. There arises a problem such that angular momentum remains in the reaction wheel of the torque unit after controlling to a desired posture. Furthermore, it is essentially inevitable that the first link of the manipulator goes back to initial angle after stopping of control. In this report, we consider applying of a reaction wheel with air resistance. Then we show that the all two link can be controlled to an arbitrary desired posture with avoiding the problem mentioned above though the system is uncontrollable.