Motion control for robotic arm with rotational counterweights

Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a new control method for the robotic arm with rotational counterweights. This robotic arm is actuated by gravitational and inertia torque of the counterweights. To date, the control law which achieves the angle control of the robot has been proposed. However, in the research, only 1 DOF robot is discussed. Moreover, the stability analysis of the dynamics hasn't been shown. The new control method proposed in this paper achieves the angle control of 2 DOFs, and we can prove the dynamic stability. In this paper, we show the convergence of the dynamics considering the method. Also we conduct numerical simulations for position control of 2 DOFs robotic arm. Verifying the angles of the robotic arm converge to its desired angles, the utility of the method is demonstrated.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages608-613
Number of pages6
Volume2018-January
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - Feb 1 2018
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: Dec 11 2017Dec 14 2017

Conference

Conference2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period12/11/1712/14/17

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Fingerprint Dive into the research topics of 'Motion control for robotic arm with rotational counterweights'. Together they form a unique fingerprint.

  • Cite this

    Ishine, R., Kawamura, A., Kurazume, R., & Kawamura, S. (2018). Motion control for robotic arm with rotational counterweights. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 608-613). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279288