非駆動関節を有する2関節形鉄棒ロボットに関する研究 : 逆動力学に基づくフィードフォワード制御を適用した運動制御

フォーマット:

論文

責任表示:

小島, 宏行 ; 三友, 啓之 ; 和田, 祐樹 ; 坂本, 賢治

言語:

日本語

出版情報:

日本機械学会, 1991-07-25

著者名:

• 小島, 宏行
• 三友, 啓之
• 和田, 祐樹
• 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:

539

開始ページ:

2291

終了ページ:

2296

バージョン:

VoR

概要:

application/pdf<br />Journal Article<br />This paper describes a motion control method of a two-link horizontal bar gymnastics robot with passive joint by use of a feedforward control based on the inverse dynamics. The direct current servomotor is installed at only the second joint, and the first link is controlled by the coupling forces and the moments between the active and passive joints. The dynamic behavior of the robot is described by the use of a system … with two equations of motion. In the design of the control system, first, the feedforward control angle of the first joint is obtained by the numerical simulation with the first equation of motion for the desired second joint angle. Then, the feedforward control torque of the servomotor is computed by applying inverse dynamics to the second equation, and the feedforward control voltage is obtained in consideration of the electric circuit of the servomotor. Furthermore, the experimental results are demonstrated, and the availability of the present motion control method is confirmed. 続きを見る