Art

J-GLOBAL ID：201502210952649137   Reference number：15A0903086

Posture control of two-link torque unit manipulator under condition of viscous friction

平面2リンクトルクユニットマニピュレータの粘性摩擦の影響を考慮した姿勢制御法

Author (6)： SETOYAMA YASUYUKI (鹿児島大 大学院理工学研究科) ,  HAYASHI RYOTA (鹿児島大 大学院理工学研究科) ,  YU Yong (鹿児島大 大学院理工学研究科) ,  KINUGASA TETSUYA (岡山理大 工) ,  YOSHIDA KOJI (岡山理大 工) ,  OSUKA KOICHI (大阪大 大学院工学研究科)
Material： 日本機械学会論文集(Web)  (Bulletin of the JSME (Web))
Volume： 81  Issue： 827  Page： 15-00067(J-STAGE)  Publication year： 2015 
JST Material Number： U0182B  ISSN： 2187-9761  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *manipulator ,  *torque control ,  *linkage (machine element) ,  plane structure ,  Friction ,  *attitude control ,  *system design ,  reaction wheel ,  viscous friction ,  *robot

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (15)：

• Arai, H. and Tachi, S., Dynamic control of a manipulator with passive joints (position control system of a two-degree-of-freedom manipulator), Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.57, No.534 (1991), pp.277-282 (in Japanese).
• Furusho, J., Control of mechatronic systems using electrorheological fluids, Journal of the Society of Instrument and Control Engineers, Vol.34, No.9 (1995), pp.687-691 (in Japanese).
• Hayashi, R. and Hida, A., On positioning control by coulomb friction, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.64, No.627 (1998), pp.4278-4283 (in Japanese).
• Hayashi, R., Setoyama, Y., Yu, Y., Kinugasa, T., Yoshida, K. and Osuka, K., Study on posture control of a rotating link system with a torque unit under frictional condition, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.79, No.808 (2013), pp.4692-4704 (in Japanese).
• Kobayashi, K., Imura, J. and Yoshikawa, T., Controllability of planar manipulators with one unactuated joint, Journal of the Robotics Society of Japan, Vol.17, No.8 (1999), pp.1167-1172 (in Japanese).

Terms in the title (3)： 粘性摩擦 ,  姿勢 ,  制御法