Minimum-Time Control of a Manipulator with Two-Degrees of Freedom
スポンサーリンク
概要
- 論文の詳細を見る
Accurate switching times of manipulated vartables for a bang-bang control of a manipulator with two-degrees of freedom are easily calculated by approximating the velocity of a DC servomotor. Such bang-bang control is compared with a near-minimum-time control whose number of switching times of manipulated variables is two and the dynamic characteristics of the manipulator controlled by those methods are analyzed theoretically and also 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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KITAMURA Yoshiyuki
Toray Co., Ltd.
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SHIMOJIMA Hiroshi
Ditto
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Kitamura Yoshiyuki
Toray Co. Ltd.
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Sato Osamu
Tokyo Institute Of Technology
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