書誌事項
- タイトル別名
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- 1P1-B19 Angle COntrol of Loosely Coupled Joint using Visual Feedback
説明
This paper focuses on a control of a joint including a viscoelastic object. The viscoelastic object corresponds to a cartilage of a human joint. This joint is referred to as a loosely coupled joint. First, we model a viscoelastic object of the cartilaginous area of a loosely coupled joint to formulate dynamic equations of the link. Based on the dynamic equations, we simulate the link motion to analyze the stability of the link in its angle control. Finally, we construct a prototype to experiment it in angle control of the link. From these results, we find the angle of the link by I control both in experiment and in simulation.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2006 (0), _1P1-B19_1-_1P1-B19_4, 2006
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205935214336
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- NII論文ID
- 110008693793
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- ISSN
- 24243124
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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
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可