2A2-E01 分散協調制御法によるコンポーネント型モデルロボットの開発

概要

論文の詳細を見る
This paper presents the development of component type multi jointed robot arm model based on a method of distributed cooperative control system. So far component based decentralized cooperative control system has been discussed for improving operating technology of multi jointed redundant manipulator as well as the principle and basic structure of control system. The system consists of a set of components and the component is a basic motion control system to make control of driving unit corresponding to each manipulator part based on the principle of local kinematics. The motion of manipulator is tailored by cooperation base on information interchange in terms of the local control output of components. In this development, the component consists of small and high torque servomotor for driving component joint and high efficiency micro computer for component controller. The component is connected by a magnet for hardware, a communications cable and a power supply cable for controller. This paper deal with a numerical computation method of local forward kinematics and local inverse kinematics in the component controller. These advantages are shown through the numerical simulation addressed for three-axis robot arm.
一般社団法人日本機械学会の論文
2009-05-25