ステップモータを用いた水平2関節形ロボットの軌道制御

フォーマット:

論文

責任表示:

小島, 宏行 ; 植杉, 献 ; 根津, 紀久雄 ; 坂本, 賢治

言語:

日本語

出版情報:

日本機械学会, 1990-05-25

著者名:

• 小島, 宏行
• 植杉, 献
• 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:

56

通号:

525

開始ページ:

1217

終了ページ:

1222

バージョン:

VoR

概要:

application/pdf<br />Journal Article<br />In this study, the mechanical system and the circular path control system of a horizontal two-link robot are constructed by utilizing step motors and harmonic drive gears. The effects of the excitation method of the step motors and the shape of the velocity pattern of the circular path control system on the dynamic characteristics are investigated. In the circular path control system, the … control pulse generation algorithm to the step motors is constructed by use of inverse kinematics. From the experimental results, it is seen that the circular path control can be achieved with a comparatively high accuracy. Then, it is advisable for stable and fast circular path control without the failure phenomenon of the step motors, to utilize the two-phase excitation method of the step motors and the trapezoidal velocity pattern of the circular path control. 続きを見る