Minimum-time-control of a Manipulator with Two Degrees of Freedom : Part 2, Dynamic Characteristics of Gear Train and Axes
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概要
- 論文の詳細を見る
Equations of motion for a manipulator with two-degrees of freedom are derived in consideration of torsion of axes, gear tooth stiffness, backlash and characteristics of driving source. And, dynamic characteristics of the manipulator for a minimum-time-control are analyzed theoretically and investigated experimentally.
- 一般社団法人日本機械学会の論文
著者
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SATO Osamu
Tokyo Keizai University
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SHIMOJIMA Hiroshi
Tokyo Institute of Technology
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YOINARA Hiroshi
Japan Tobacco Inc.
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KITAMURA Yoshiyuki
Toray Co., Ltd.
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YOINARA Hiroshi
The Japan Tobacco and Salt Public Corporation
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Kitamura Yoshiyuki
Toray Co. Ltd.
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Sato Osamu
Tokyo Institute Of Technology
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