書誌事項
- タイトル別名
-
- Manipulator Control Based on a Nominal Dynamic Model in Operational Space.
- サギョウ ザヒョウケイ ニ オケル ノミナル モデル ニ モトズク マニピュレ
この論文をさがす
抄録
This paper proposes a method for designing a control law of providing a robotic manipulator which behaves according to a nominal dynamic model specified in operational space. The proposed control has a simple algorithm and requires no calibration of the mechanical parameters to formulate this control law. Initially, we consider the forces in operational space which will produce the difference between nominal dynamics and real manipulator dynamics. Secondly, introducing an observe to estimate such forces, a control system which can cancel out such forces and render the manipulator dynamics equal to the given nominal dynamic model will be designed. The proposed method was implemented in a real system and experiments were carried out to confirm its effectiveness. Finally, the experimental results are discussed.
収録刊行物
-
- 日本機械学会論文集C編
-
日本機械学会論文集C編 60 (572), 1351-1357, 1994
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001206329378688
-
- NII論文ID
- 130004230519
- 110002381472
-
- NII書誌ID
- AN00187463
-
- ISSN
- 18848354
- 03875024
-
- NDL書誌ID
- 3873079
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可