2A1-A01 肘付き拘束運動を用いた軌道追従制御の改善(冗長自由度ロボット・メカニズム)

概要

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It is possible to say that the multi joint manipulator can work even if increasing of redundant quality,the numbers of links,and the complex structure. However, it becomes to fall down easily, because of the increasing of manipulator's weight,which is caused by the increasing of the numbers of links. Therefore, accuracy of end-effecter will reduce. And then in order to control, the bigger power will be needed. Here,I think a manipulator just like a human-being who can do some high accuracy work by a little power with attaching elbow. So in this paper it is compared the two movements, without attaching elbow and with attaching elbow. Then we can get the conclusion in the movement without attaching elbow,it can work better, under the condition of smaller power.
一般社団法人日本機械学会の論文
2007-05-11