運動伝達性に優れた6自由度空間パラレルマニピュレータの開発 : 第2報, 試作マニピュレータの位置繰返し精度

概要

論文の詳細を見る
Based on the results of the 1st report, a new prototype manipulator with six degrees of freedom is developed. The manipulator is equipped with six rotary-type direct-drive motors and each motor is controlled by a local PID controller. The position repeatability is experimentally tested for various cases of the command position, positioning direction, speed and load masses of the output link. The results reveal that the prototype manipulator has superior positioning accuracy to conventional manipulators. And, in the case where the loads on the output link are greately changed, good positioning accuracy can be achieved by the use of the compensation control for elastic deformation of the manipulator caused by the loads and the local feedback control of each motor.
一般社団法人日本機械学会の論文
1995-10-25