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- HINO Daisuke
- Dept. of Robotics, Ritsumeikan Univ.
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- SHIBATA Mizuho
- Dept. of Robotics, Ritsumeikan Univ.
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- UEDAN Kazuma
- Dept. of Robotics, Ritsumeikan Univ.
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- HIRAI Shinichi
- Dept. of Robotics, Ritsumeikan Univ.
Bibliographic Information
- Other Title
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- 1P1-B19 視覚フィードバックによるLoosely Coupled Jointの角度制御
Abstract
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.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 (0), _1P1-B19_1-_1P1-B19_4, 2006
The Japan Society of Mechanical Engineers
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Keywords
Details
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- CRID
- 1390001205935214336
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- NII Article ID
- 110008693793
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed