平面2自由度劣駆動マニピュレータのsBOXⅡによるデジタル信号処理システムを用いた動作環境の構築

抄録

Underactuated manipulators have some passive joints. Usually, General manipulators have more than an actuator in joint. Underactuated manipulators need to use more complex control than general manipulators. But, reducing the number of actuators brings some advantages such as light waiting, energy saving and cost reduction. In this paper, we try to constitute an experimental environment for planar two-DOF underactuated manipulators. In addition, we introduce a digital signal processing system. Here we design this system using MATLAB/Simulink that is a numerical analysis software. The effectiveness of this proposal method is illustrated with some experiments.