Art

J-GLOBAL ID：201802257945393726   Reference number：18A2207412

Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload

ペイロードの未知重力補償のための腱弾性非線形性の利用

Author (4)： SHAO Chao (Yamagata Univ., Yamagata, JPN) ,  TOGASHI Junki (Kumagaigumi Co., Ltd., Tsukuba, JPN) ,  MITOBE Kazuhisa (Yamagata Univ., Yamagata, JPN) ,  CAPI Genci (Hosei Univ., Tokyo, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 30  Issue： 6  Page： 873-879  Publication year： Dec. 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： *robot arm ,  *elastic material ,  *nonlinearity ,  payload ,  control ,  rubber ,  strap ,  robot ,  drum ,  tendon(animal tissue) ,  *position control ,  reduction ,  tension(force) ,  tension(material phenomenon) ,  driving mechanism ,  *gravity reduction ,  parameter estimation
Semi thesaurus term： soft robotics ,  robot control ,  positioning control ,  winding drum ,  reduction error

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

Reference (24)：

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• [3] N. Saga, J. Nagase, and Y. Kondo, “Development of a Tendon- Driven System Using a Pneumatic Balloon,” J. Robot. Mechatron., Vol.18, No.2, pp. 139-145, 2006.
• [4] M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Trans. on Systems, Man and Cybernetics, Vol.11, Issue 6, pp. 418-432, 1981.
• [5] B. J. Waibel and H. Kazerooni, “Theory and Experiments on the Stability of Robot Compliance Control,” IEEE Trans. on Robotics and Automation, Vol.7, No.1, pp. 95-104, 1991.

Terms in the title (5)： ペイロード ,  重力補償 ,  腱 ,  弾性 ,  非線形性