書誌事項
- タイトル別名
-
- Precise Position Control of Robot Arm Using Liquid Crystal Electrorheological Fluid Based on H.INF. Control Theory.
- エキショウケイ ER リュウタイ オ モチイタ ロボット アーム ノ H セイ
この論文をさがす
抄録
In general, a semiclosed loop method which utilizes the signal obtained from an encoder mounted on a servomotor, is adopted in the control of industrial robots. In this method, the position of the end-effector is not controlled very accurately. Therefore, we aim to apply a closed loop control which uses the absolute position measured directly at the end-point. However, it is very difficult to control the arm based on this method because of the flexibility of the driving system. In this study, a robot arm with the damper using electrorheological fluid is developed in order to improve the stability. Then the closed loop method is applyed to the positioning of the end-point of the arm. The feedback-controller is derived by using the mixed sensitivity problem of H∞ control theory.
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 61 (586), 2501-2507, 1995
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
- 1390282681305543168
-
- NII論文ID
- 130004083444
- 110002381962
-
- NII書誌ID
- AN00187463
-
- ISSN
- 18848354
- 03875024
- http://id.crossref.org/issn/03875024
-
- NDL書誌ID
- 3607056
-
- 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