可変粘弾性関節マニピュレータを用いた粘弾性制御による瞬発力を伴う運動の制御

DOI Web Site Web Site 参考文献12件

書誌事項

タイトル別名
  • Variable Impedance Control with Variable Viscoelasticity Joint Manipulator for Instantaneous Force
  • カヘンネンダンセイ カンセツ マニピュレータ オ モチイタ ネンダンセイ セイギョ ニ ヨル シュンパツリョク オ トモナウ ウンドウ ノ セイギョ

この論文をさがす

説明

Humans perform various motion such as jumping or throwing without high vibration, via variable viscoelasticity characteristics. On the other hand, highly rigid actuators such as geared motors or hydraulic actuators are widely used in industrial robots. It is difficult that they have variable viscoelasticity for them. In addition, to obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. We have developed a one-degree-of-freedom manipulator with a variable rheological joint using a straight-fiber-type artificial muscle and a magnetorheological (MR) brake. With the generation of instantaneous force, the dead and rise times decreased compared to the conventional method. After the generation of an arbitrary instantaneous force, we controlled the robot's arm position by applying an equilibrium force on the joint. Furthermore, we controlled the vibrations of the arm by controlling the MR brake using an evaluation function. By this impedance control, response of the arm was improved without large loss of power.

収録刊行物

参考文献 (12)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ