3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

H. Kino, T. Yoshitake, R. Wada, K. Tahara, K. Tsuda

研究成果: ジャーナルへの寄稿学術誌査読

11 被引用数 (Scopus)

抄録

This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.

本文言語英語
ページ(範囲)766-777
ページ数12
ジャーナルAdvanced Robotics
32
14
DOI
出版ステータス出版済み - 7月 18 2018

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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