マニピュレータの速度依存非線形トルクの幾何学的特性
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概要
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Manipulator dynamics on the velocity-dependent nonlinear joint torques due to the Coriolis and centrifugal forcesis investigated. The nonlinear mapping from the velocity space to the joint torque space is characterized by geomet-rically describing a joint torque set as an image of a velocity set with a constant norm. The geometry represents the characteristics of the nonlinear joint torques independent of velocity directions. The characteristics are investigated in two cases: 2DOF and more than 2DOF. 2DOF manipulators have the characteristic that the image of the isotropic velocity set has the shape of an ellipse in the joint torque space. In the case of more than 2DOF, the image is included in an ellipsoid. These characteristics are verified with numerical manipulator models.
- 社団法人 日本ロボット学会の論文
- 2002-09-15