書誌事項
- タイトル別名
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- Position Control of a Two-link Arm without using Inverse Kinematics
- —Virtually Desired Trajectory of Joints and Bell-shaped Velocity Profile—
- —関節角仮想目標軌道とベル型速度プロファイル—
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説明
This paper proposes a straightforward control raw for the position control of a two-links robotic arm in vertical plane with the gravitational force. This control strategy is not based on a conventional method using inverse kinematics and the Jacobian matrices of the robot. Virtually-desired joint trajectory is generated during the motion of the robot until the tip of the arm reaches a given target point. Because of the property, joint angle of the arm is not necessary to converge to the generated joint trajectory. Using this proposed control law, extremely smooth motion in position control can be realized like human arm movements, and resulting in Bell-shaped trajectory of velocity profile can be achieved through the PTP control. Usually, this kind of velocity profile has been seen in Minimum Jerk-Based Control and Minimum Torque-Based Control. However, the control law presented in this manuscript enables to produce the Bell-shaped velocity during the position control. Finally, this paper clearly indicates that an extremely simple control law acts as an effective method to mimic the natural and smooth motion of the human.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 32 (3), 307-315, 2014
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204729971072
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- NII論文ID
- 130004561569
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
