Adaptive motion control of a robotic arm with movable counterweights

Akihiro Kawamura, Tomoaki Hisatsune, Kento Matsusaka, Mitsunori Uemura, Sadao Kawamura

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

4 被引用数 (Scopus)

抄録

This paper proposes a new robotic arm which has active movable counterweights as an actuator in addition to motor drives. The active counterweights reduce gravity effect of cantilever structure adaptively by movement of counterweights. Additionally, the counterweight has offset angle between links and movement axis of the counterweight. This structure makes it possible to regulate joint angles not using joint motors but only using gravity of the counterweights. Using the two features, gear reduction ratio of motors decreases and base unit becomes light and small. Consequently, the robotic arm has flexibility and is suitable for narrow and high altitude environment such as on vehicles. It is however difficult to control the robot precisely due to the effects of physical parameter errors and friction. Therefore, an adaptive control method of this new robotic arm is proposed. The usefulness of the method is demonstrated by experiments using a prototype.

本文言語英語
ホスト出版物のタイトルAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ882-887
ページ数6
ISBN(印刷版)9781479957361
DOI
出版ステータス出版済み - 2014
外部発表はい
イベント2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, フランス
継続期間: 7月 8 20147月 11 2014

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

その他

その他2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
国/地域フランス
CityBesancon
Period7/8/147/11/14

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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