マニピュレータにおけるモータ駆動トルクの計算法と軌道制御法

概要

論文の詳細を見る
The dynamics of a mechanical manipulator are characterized by strong non-linearity and dynamic coupling between the joint motions. Accordingly, a computed torpue method in which the control input is the motor drive torque computed for a desired arm trajectory is effective in precise trajectory control. Such a method requires calculation of both joint general-ized torque and motor generalized torque. It also requires that friction loss in the torque transfer system be taken into account. This paper presents a dynamic equation that takes into account friction loss and is based on the Lagrangian method. Moreover, an effective computa-tion method for motor generalized torque is also shown using coordinate systems assigned to the link and the motor. The effectiveness of this computed torque method is verified using experimental results obtained for a five-degree-of-freedom manipulator.
公益社団法人精密工学会の論文
1985-05-05