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フルテキストURLKJ00000156768.pdf ( 453.0KB ) 公開日 2010-04-19
タイトル産業用ロボットの軌道制御 (第 4 報)
タイトルヨミサンギョウヨウ ロボット ノ キドウ セイギョ ダイ 4 ホウ
タイトル別表記Trajectory Control of an Industrial Robot (4th Report)
作成者和田, 憲造
上野, 忠浩
早野, 延男
作成者ヨミワダ, ケンゾウ
ウエノ, タダヒロ
ハヤノ, ノブオ
作成者別表記Wada, Kenzo
Ueno, Tadahiro
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. Generally, industrial robots are non-linear, multivariable, time-varying systems and when the robot is moving, an interaction between the arms exists. Therefore, we try to decouple the system using the decouple control theory. At this time, the feedback law permits an arbitrary assignment of a specified number of poles. Next we compose a servo-system for the decoupled system. In computer simulations, an error of output between the robot system and the decoupled system occurred. Therefore, we add the PI action to the system in order to compensate for errors between the output of the robot system and a reference trajectory. When the robot is in motion, parameters of the robot are changing because of load fluctuation and so on. In this case, it isn't always controlled well by using the fixed prameters control methods. Therefore, an application of the model reference adaptive control method to the robot system was investigated. As the results of computer simulations, the robot arms follow well the reference trajectory in spite of the load fluctuation, and the availability of the proposed control methods 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
40
1
開始ページ107
終了ページ113
発行日1989-10
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IDKJ00000156768
地域区分山口大学
URIhttp://www.lib.yamaguchi-u.ac.jp/yunoca/handle/KJ00000156768