ステッピングモータを用いた水平2リンク形ロボットの円軌道制御 : 速度入力形状と円軌跡精度の実験的考察

抄録

In this paper we describe the circular path control of a horizontal two-link robot driven by a stepping motor. The stepping motor is less utilized for the robot-manipulator system than the D.C. servomotor, because it has a demerit called the step-out phenomenon. However, the stepping motor has the merit of not requiring a rotary sensor, and thus its control system is easily prepared. In this report, seven velocity patterns are used to perform circular path control. Varying the control time which the robot draw a circular path, the deviation between the theoretical path and the experimental one is discussed for each velocity pattern. Based on the experimental results, it is recommended to utilize the synthetic velocity pattern at the initial velocity for fast and highly accurate circular path control without the step-out phenomenon.