Feedback control for wire-suspended mechanism with exact linearization

Noritaka Yanai, Motoji Yamamoto, Akira Mohri

研究成果: 会議への寄与タイプ論文

抄録

This paper discusses a feedback control method for incompletely restrained wire-suspended mechanisms. The incompletely restrained wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is one of the simplest incompletely restrained mechanism. For this reason, anti-sway control method for incompletely restrained type mechanisms is needed. A key point of our method is exact linearization using inverse dynamics of the system. Feedback control method with exact linearization and measuring method for the suspended object are presented, and effectiveness of proposed methods are shown by an experiment.

元の言語英語
ページ2213-2218
ページ数6
出版物ステータス出版済み - 1 1 2002
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, スイス
継続期間: 9 30 200210 4 2002

その他

その他2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
スイス
Lausanne
期間9/30/0210/4/02

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Position measurement
Inverse kinematics
Position control
Motion control
State feedback
System stability
Linearization
Feedback control
Manipulators
Wire
Cranes
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Yanai, N., Yamamoto, M., & Mohri, A. (2002). Feedback control for wire-suspended mechanism with exact linearization. 2213-2218. 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, スイス.

Feedback control for wire-suspended mechanism with exact linearization. / Yanai, Noritaka; Yamamoto, Motoji; Mohri, Akira.

2002. 2213-2218 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, スイス.

研究成果: 会議への寄与タイプ論文

Yanai, N, Yamamoto, M & Mohri, A 2002, 'Feedback control for wire-suspended mechanism with exact linearization' 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, スイス, 9/30/02 - 10/4/02, pp. 2213-2218.
Yanai N, Yamamoto M, Mohri A. Feedback control for wire-suspended mechanism with exact linearization. 2002. 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, スイス.
Yanai, Noritaka ; Yamamoto, Motoji ; Mohri, Akira. / Feedback control for wire-suspended mechanism with exact linearization. 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, スイス.6 p.
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