T-4-3-3 Giant-swing motions of a 3-DOF Link Mechanism
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概要
- 論文の詳細を見る
This paper investigates giant swing motions of a 3-DOF link horizontal bar mechanism. The shooting method for two sets of link parameters; a human body and an experimental setup derives five free giant swing motions. Dependence of giant motions on link parameters is discussed. To stabilize free giant swing motions, a feedback control method that actuates the second and third joint is investigated for an experiment. Each joint torque is controlled such that the measured state variables follow the time-depend free giant motion trajectories. Sets of six feedback gains are successfully determined with Genetic Algorithm (GA) for various swing motions and periods.
- 一般社団法人日本機械学会の論文
著者
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Yamaura Hiroshi
Department Of Mechanical And Control Engineering Tokyo Institute Of Technology
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Suzuki Hiroyuki
Department Of Applied Physics School Of Science And Engineering Waseda University:(present Address)h
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Yamaura Hiroshi
Department Of Mechanical And Control Engineering School Of Engineering Tokyo Institute Of Technology
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Ono Kyosuke
Department Of Mechanical And Control Engineering Tokyo Institute Of Technology
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Ono Kyosuke
Department Of Mechanical And Control Engineering School Of Engineering Tokyo Institute Of Technology
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Suzuki Hiroyuki
Department Of Mechanical And Control Engineering Tokyo Institute Of Technology
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Suzuki Hiroyuki
Department Of Animal Science Faculty Of Agriculture Hokkaido University
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