1A1-A21 Energy Saving Motion of Multi-Joint Robots Through Stiffness Adaptation and DFC
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概要
- 論文の詳細を見る
This paper presents a new energy saving control method for multi-joint robots. The purpose of the proposed control method is to generate periodic motions without using actuator torque as much as possible. To solve this problem, stiffness adaptation(SA) and delayed feedback control(DFC) are simultaneously used. Even though the original DFC requires priori knowledge of objective systems, the proposed control method works without using parameters of the objective systems. Numerical simulation shows that the proposed control method can generate a periodical motion requiring almost no actuator torque in a steady state.
- 一般社団法人日本機械学会の論文
- 2008-06-06
著者
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Kawamura Sadao
Department Of Neurosurgery Kyoto University Medical School
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Ma Shugen
Department Of Robotics Ritsumeikan University
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Lu Guangqiang
Department of Robotics Ritsumeikan University
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Uemura Mitsunori
Department of Robotics Ritsumeikan University
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