1A3-3 未知外力を考慮した柔軟アームの制御(ロボット制御)

概要

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This paper discusses about the flexible arm mechanism restricting an elastic body by multiple wires. The tip position and orientation of the flexible arm are determined by the elastic deformation of the flexible object. Although we need to consider not only wire lengths but also the force and moment acting on the flexible object to perform the highly accurate positioning control, in general, to control the flexible arm the simplified deformation analysis is used. However, this simplified deformation analysis cannot explain the deformation when external force acts on the arm. In this paper, the positioning control of the flexible arm is discussed. To control the flexible arm when external force acts on the arm, the additional wires are used. The deformation of the mechanism with the additional wires can calculate by only wire lengths and the mechanism can reach the target point even if external force acts on the arm.
一般社団法人日本機械学会の論文
2011-09-01