書誌事項
- タイトル別名
-
- Control system and gravity compensation method of the elastic tendon-driven robot arm considering tendon nonlinearity
説明
<p>This paper discusses on the control system and stability of the marionette style elastic tendon driven robot arm. The idea of this robot arm is a light weighted and easily customizable structure by using low-cost materials for the links and tendons. Due to the lower rigidity of the positioning action through tendons, positioning error when carrying an unknown load is an important issue. In this paper, we show an iterative compensation method of the gravity force, based on the static relation of forces. A criterion of the error reduction, considering the nonlinearity of the tendon elasticity. Experimental results using a prototype robot arm are shown to demonstrate the basic behavior, and confirm the proposed gravity compensation method.</p>
収録刊行物
-
- ロボティクス・メカトロニクス講演会講演概要集
-
ロボティクス・メカトロニクス講演会講演概要集 2017 (0), 1P2-H10-, 2017
一般社団法人 日本機械学会
- Tweet
キーワード
詳細情報 詳細情報について
-
- CRID
- 1390282680916327424
-
- NII論文ID
- 130006220584
-
- ISSN
- 24243124
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可