3618 三次元マジックハンドの研究 : 第6報,フィードバックシステムと制御法(G15-2 ロボティクス・メカトロニクス(2) ハンド・マニピュレーション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

論文の詳細を見る
On the super-multi joint manipulator that was able to wind and to expand in a three-dimensional space, a simple feedback control was added for the positioning accuracy improvement. Three wires were set through the center part of the top and bottom plates of each unit. And three encoders to measure the amount of expansion or contraction of wires was set up. This measurement value is converted into Cartesian coordinates by direct kinematics calculation, and used as feedback. Only one unit is driven, and this is switched unit by unit periodically. And the whole is along the target shape. Inverse and direct kinematics necessary in this control were analyzed.
一般社団法人日本機械学会の論文
2008-08-02