Minimum-energy Control of a Manipulator with Two-degree of Freedom
スポンサーリンク
概要
- 論文の詳細を見る
A performance criterion for minimum-energy control calculated by dynamic programming is defined considering the characteristics of driving source. Such minimum-energy control is compared with near-minimum-energy control whose input signal is rectangular, and the dynamic characteristics of a manipulator controlled by these methods are analyzed theoretically and investigated experimentally.
- 一般社団法人日本機械学会の論文
著者
-
SATO Osamu
Tokyo Keizai University
-
SHIMOJIMA Hiroshi
Tokyo Institute of Technology
-
YOINARA Hiroshi
Japan Tobacco Inc.
-
Sato Osamu
Tokyo Institute Of Technology
関連論文
- E-mail Diffusion and its Determinant Factors in Organizations : Empirical Study on E-mail Usage in Japanese Companies
- Positioning Control of a Gear Train System Including Flexible Shafts
- A Dynamic Analysis of an Adjustable Conveying Machine : Vibration, Control Engineering, Engineering for Industry
- Dimensional Synthesis of Dwell Function Generators (On 6-Link Stephenson Mechanisms) : Vibration, Control Engineering, Engineering for Industry
- Dynamic and Static Characteristics of Rolling Rigid Bodies
- Kinematic Synthesis of Adjustable Mechanisms : Part 1,Path Generators
- An Application of planar Adjustable Mechanism to a Conveying Machine
- A Study of Grippers with Multiple Degrees of Mobility : Vibration, Control Engineering, Engineering for Industry
- Synthesis of Spatial 5-Link Path Generator : Part 1, Two Couplers Joined by a Spherical Pair
- Synthesis of Planar Six-Link Path-Generator : Part 2, On the Cusps of Watt Mechanism
- Kinematic Synthesis of Adjustable Mechanisms : 3rd Report, 6-link Dwell Mechanisms
- Dynamic Torsional Analysis of Gear Train System
- Dynamic Characteristic of Automatic Positioning Machine
- Kinematic Synthesis of Adjustable Mechanisms : Part 2, Function generators
- Synthesis of Planar Four-Link Path Generator Planar Four-Link Path Generator : On the Singular Points
- A Displacement Analysis of Overconstrained Mechanisms
- Kinematic Characteristics of Single-loop Overconstrained Mechanisms
- Number Synthesis of Single-Loop Overconstrained Kinematics Chain
- Synthesis of Planar Multiple-Link Path Generator
- A Transmissibility for Single-Loop Spatial Mechanisms
- Synthesis of Planar Six-Link Path-Generator : Part 1, On the Cusps of Stephenson-I Mechanism
- Minimum-energy Control of a Manipulator with Two-degree of Freedom
- Minimum-time-control of a Manipulator with Two Degrees of Freedom : Part 2, Dynamic Characteristics of Gear Train and Axes
- Minimum-Time Control of a Manipulator with Two-Degrees of Freedom
- Optimization of 6-Bar Watt Linkages Adjustable for the Coupler Motion
- Synthesis of Spatial Multiple-Link Path-Generator
- Impact of Organizational Structural Variables on EUC Training and Performance : An Empirical Research