目標多様体を用いたフレキシブルマイクロ-マクロロボットの動的軌道制御

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概要

• 論文の詳細を見る

• This paper addresses issues of dynamic modeling and end-effector trajectory control for two serially connected robots: a flexible macroarm and a rigid microarm, which is carried by the macroarm. First, a dynamic model is presented using Hamilton's principle and the finite element method. Based on this dynamic model, a new end-effector trajectory control method is proposed. Based on this method, the control system design is divided into two stages. The first stage is concerned with the design of an ideal manifold on which the desired dynamic performance of the system is quaranteed. In the second stage, the end-effector trajectory control scheme which governs the motion of the system converging to the ideal manifold is derived. Stability of the system is demonstrated using the Lyapunov stability theory. Simulations are carried out to illustrate the effectiveness of the proposed control method.

• 一般社団法人日本機械学会の論文
• 1997-10-25

著者

• 姜 兆慧

  広島工業大学工学部

• Goldenberg Andrew

  University Of Toronto

• Goldenberg Ardrew

  University of Toronto

関連論文

• 目標多様体を用いたフレキシブルマイクロ-マクロロボットの動的軌道制御
• エンドエフェクタ軌道制御法に基づいたフレキシブルロボットのインピーダンス制御
• フレキシブルマイクロ-マクロロボットのインピーダンス制御
• フレキシブルベースに搭載するロボットアームの動的可補償性

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