Precise Position Control of Robot Arm Using Liquid Crystal Electrorheological Fluid Based on H.INF. Control Theory.
Bibliographic Information
- Other Title
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- 液晶系ER流体を用いたロボットアームのH∞制御に基づく高精度位置決め制御
- 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
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Abstract
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.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 61 (586), 2501-2507, 1995
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282681305543168
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- NII Article ID
- 130004083444
- 110002381962
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
- http://id.crossref.org/issn/03875024
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- NDL BIB ID
- 3607056
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed