粘性摩擦による影響を考慮した平面２リンクトルクユニットマニピュレータの姿勢制御

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書誌事項

タイトル別名
  • Posture Control of Planer Two-link Torque Unit Manipulator under Viscous Friction Condition
  • ―関節の粘性摩擦を利用した第１リンクの姿勢制御―
  • -Posture Control of First Link by Using Viscous Friction on First Joint-

説明

<p>In this research, we consider a posture control problem of the planer two-link torque unit manipulator under viscous friction condition. The torque unit is a module consisting of an electric motor and a reaction wheel. It can be set at an arbitrary position as an actuator to control a rotating link system with a free joint. When a manipulator is controlled by torque units, a problem arises: angular momentum remains in the reaction wheel of the torque units. It is therefore important to consider a method of unloading the residual angular momentum. In this report, we propose the method to control the first link to the arbitrary reference position by using the viscous friction on the first joint. Then, we show the feasibility of the proposed method by making several verification experiments.</p>

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