多リンク構造体ワイヤ駆動システムにおける位置センサフィードバック制御 : センサ・アクチュエータマップを用いた可視化と整理(機械力学,計測,自動制御)

概要

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Multiple Links Structure / Wire Driven System has a serial-link structure driven by a wire-drive mechanism. This system possesses both advantages of the serial-link structure and the wire driven mechanism. However, the transformations among coordinates (the task oriented, the joint angles and the wire length) are very complicated. Therefore, it is not clear how sensory feedback control laws should be realized for the system. First, we propose the sensor-actuator map in which the sensor coordinates and actuator coordinates are arranged. It is possible to consider that the realization of sensory feedback control laws means to find out paths from sensor coordinates to actuator coordinates on the map. Next, several paths on the map are determined to make the PID sensory feedback laws. Finally, we investigate experimental results of control laws obtained from the map.
一般社団法人日本機械学会の論文
2005-07-25