C28 ロボットマニピュレータの非線形目標軌道に対する追従特性(OS11-1 マニピュレータの制御)

概要

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The representative method of controlling industrial robots is adapted by the feedback control. However, when high-speed operation is sometimes required at real time control, it is difficult to use the feedback control because of the reason why there is complexity of the motion of the equation. As one of the method how to solve this problems, the computed torque control which had the ability of the compensation for nonlinearity is tested for three links manipulator. Consequently, the calculated amount of the torque was used and succeeded the tracing for the simple circler orbit by the top of manipulator. But, total angle θ_T composed by the harmony of the angle of each joint should be constancy. From the our experimental results, it is expected for the practical use to simulate the motion of the manipulator. We are able to conclude the decision of the calculation method must be available for the non stationary θ_T in future.
一般社団法人日本機械学会の論文
2005-08-22