ロボットによる振り子の振り上げ制御 : 数値シンミュレーションによる軌道計画と実験

フォーマット:

論文

責任表示:

小島, 宏行 ; 小山, 清 ; 根津, 紀久雄 ; 坂本, 賢治

言語:

日本語

出版情報:

日本機械学会, 1991-03-25

著者名:

• 小島, 宏行
• 小山, 清
• 根津, 紀久雄
• 坂本, 賢治

掲載情報:

日本機械学會論文集. C編

ISSN:

0387-5024    

巻:

57

通号:

535

開始ページ:

854

終了ページ:

859

バージョン:

VoR

概要:

application/pdf<br />Journal Article<br />In this paper, the swing-up control method of a pendulum by a horizontal one-link robot is presented, and the experimental results are demonstrated. In the design of the control systom, first, the equations of motion of the mechanical system consisting of the robot and the pendulum are derived. Second, the trajectory planning for the swing-up control of the pendulum is investigated by the … numerical simulation about the pendulum. In this trajectory planning, the sinus control command of the joint angle is used. Then, the feedforward control voltage of the servomotor are obtained by applying inverse dynamics to the equation of motion with respect to the robot. Furthermore, it is demonstrated by the experimental results that the pendulum can be swung up by adjusting the amplitudes of the sinus control command of the joint angle that is obtained in trajectory planning. 続きを見る