平面2自由度劣駆動マニピュレータにおけるArduino IOを用いたリアルタイム制御システムの性能評価

抄録

Underactuated manipulators is a manipulator that does not have actuators installed in some of its joints, unlike conventional manipulators. Although the control becomes more complex, the number of actuators can be reduced, making it possible to reduce weight, energy consumption, and costs compared to conventional manipulators. This paper describes the construction and performance evaluation of a real-time control environment for a two-DOF underactuated manipulators to confirm the effectiveness of the energy region switching method, a control method for underactuated manipulators. The system is constructed using MATLAB/Simulink and Arduino IO.