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フルテキストURLKJ00000156657.pdf ( 351.6KB ) 公開日 2010-04-19
タイトル産業用ロボットの操作性と軌道制御(第2報)
タイトルヨミサンギョウヨウ ロボット ノ ソウサセイ ト キドウ セイギョ ダイ 2 ホウ
タイトル別表記Manipulation Ability and Trajectory Control of an Industrial Robot (2nd Report)
作成者和田, 憲造
香川, 浩之
三好, 慎一郎
早野, 延男
作成者ヨミワダ, ケンゾウ
カガワ, ヒロユキ
ミヨシ, シンイチロウ
ハヤノ, ノブオ
作成者別表記Wada, Kenzo
Kagawa, Hiroyuki
Miyoshi, Shinichiro
Hayano, Nobuo
作成者所属山口大学工学部
内容記述(抄録等)Industrial robots have been applied in many fields. So far these robots have been controlled by the ”Point to Point” or ”Continuous Path” control methods. At the present stage, robot manipulators with finer performances at high speed and accuracy have been required; therefore, we must consider the control method, which takes the dynamics of robots into account. In this report, we used ”Move Master II” (Mitsubishi Electric Works) as our sample. Usually, though ”Move Master II” has four links, as the first step, we performed the simulation experiments of trajectory control of manipulator with two links (link1 and link2) with the feedback of the positional information. The industrial robots are non-linear, multi-variable, time-varying systems. When we control the system by using the former control law, interaction between both arms results. Then the system is decoupled by the state feedback to avoid the above effect, and accordingly this feedback law permits an arbitrary assignment of a specified number of poles. As for the experimental system, we composed a software servo-system for the decoupled system. Through the simulation experiments, we could obtain a good response (trajectory) compared with the reference trajectory by regulating feedback gains. As a result, the availability of the proposed control method was confirmed.
本文言語jpn
主題機械工学
資料タイプtext
ファイル形式application/pdf
出版者山口大学工学部
出版者ヨミヤマグチ ダイガク コウガクブ
NII資料タイプ紀要論文
ISSN0372-7661
NCIDAN00244228
学内刊行物(紀要等)山口大学工学部研究報告
掲載誌名山口大学工学部研究報告
掲載誌名別表記Memoirs of the Faculty of Engineering, Yamaguchi University
38
1
開始ページ29
終了ページ34
発行日1987
著者版/出版社版出版社版
備考本文データは国立情報学研究所において電子化したものである
リポジトリIDKJ00000156657
地域区分山口大学
URIhttp://www.lib.yamaguchi-u.ac.jp/yunoca/handle/KJ00000156657