A Study of Computer Control of Motion of a Mechanical Arm : 2nd Report. Control of Coordinative Motion Utilizing a Mathematical Model of the Arm

概要

論文の詳細を見る
In the second report, a computer control system of the coordinative motion of the mechanical arm is described. This control system is a real time system which consists of a servo system to control the motion of the arm, tactile and visual information processing systems and some other subsystems. The servo system is a software servo system, of which the controlling unit is constructed of a computer software. In this controlling unit, a mathematical model of the arm and its driving unit is programmed. Making use of this mathematical model, the motion, force and moment of the hand and the stiffness of the servo at the hand can be controlled in various coordinate systems properly designated in the work space of the arm.
一般社団法人日本機械学会の論文