Art

J-GLOBAL ID：201802220466512695   Reference number：18A1879638

Posture Control of Two Link Torque Unit Manipulator Considering Influence of Viscous Friction on Joints

関節に及ぼす粘性摩擦の影響を考慮した2リンクトルクユニットマニピュレータの姿勢制御

Author (6)： SETOYAMA Yasuyuki (Kagoshima National Coll. of Technol., Kirishima, JPN) ,  HAYASHI Ryota (Okayama Univ. Sci., Okayama, JPN) ,  YU Yong (Kagoshima Univ., Kagoshima, JPN) ,  KINUGASA Tetsuya (Okayama Univ. Sci., Okayama, JPN) ,  YOSHIDA Koji (Okayama Univ. Sci., Okayama, JPN) ,  OSUKA Koichi (Osaka Univ., Osaka, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 30  Issue： 5  Page： 801-810  Publication year： Oct. 20, 2018 
JST Material Number： L0735A  ISSN： 0915-3942  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *manipulator ,  *attitude control ,  *linkage (machine element) ,  motion control ,  Friction ,  angular momentum ,  reaction wheel ,  viscous friction ,  angle control ,  *robot

JST classification (1)： Servo mechanisms  (IC03030Q)

Reference (18)：

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• [2] K. Osuka, K. Yoshida, and T. Ono, “Proposal of Torque Unit Manipulator,” J. of the Robotics Society of Japan, Vol.14, No.7, pp. 1018-1025, 1996 (in Japanese).
• [3] M. L. Visinsky, J. R. Cavallaro, and I. D. Walker, “A dynamic fault tolerance framework for remote robots,” IEEE Trans. on Robotics and Automation, Vol.11, No.4, pp. 477-489, 1995.
• [4] M. M. W. Dixon, D. Dawson, and I. Walker, “Fault detection and identification for robot manipulators,” Proc. of 2004 IEEE Int. Conf. on Robotics and Automation, pp. 4981-4986, 2004.
• [5] A. De Luca and L. Ferrajoli, “A modified Newton-Euler method for dynamic computations in robot fault detection and control,” Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 3359-3364, 2004.

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