Splecial Issue on Active Control-Leading Application of Control Theory. Control and Control Theory for Flexible Robots.

概要

論文の詳細を見る
As the requirements for robot performance increase, the dynamics of the manipulator become more dominated by flexibility. These flexible effects generate model uncertainty which reduces the end-point positioning accuracy of the manipulator. Residual vibration or tip deflection due to uncertain payloads may contribute to the error in tip position. This paper addresses several control strategies currently used by researchers to account for flexibility in robots and their ability to perform tasks despite the flexibility.
公益社団法人計測自動制御学会の論文