Motion control for robotic arm with rotational counterweights

Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抜粋

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.

元の言語英語
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版者Institute of Electrical and Electronics Engineers Inc.
ページ608-613
ページ数6
2018-January
ISBN(電子版)9781538622636
DOI
出版物ステータス出版済み - 2 1 2018
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, 台湾省、中華民国
継続期間: 12 11 201712 14 2017

会議

会議2017 IEEE/SICE International Symposium on System Integration, SII 2017
台湾省、中華民国
Taipei
期間12/11/1712/14/17

All Science Journal Classification (ASJC) codes

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

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  • これを引用

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