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 language | English |
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| Title of host publication | SII 2017 - 2017 IEEE/SICE International Symposium on System Integration |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 608-613 |
| Number of pages | 6 |
| Volume | 2018-January |
| ISBN (Electronic) | 9781538622636 |
| DOIs | |
| Publication status | Published - Feb 1 2018 |
| Event | 2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China Duration: Dec 11 2017 → Dec 14 2017 |
Conference
| Conference | 2017 IEEE/SICE International Symposium on System Integration, SII 2017 |
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| Country/Territory | Taiwan, Province of China |
| City | Taipei |
| Period | 12/11/17 → 12/14/17 |
All Science Journal Classification (ASJC) codes
- Modelling and Simulation
- Instrumentation
- Artificial Intelligence
- Computer Science Applications
- Engineering (miscellaneous)
- Materials Science (miscellaneous)
- Control and Optimization