Driving and control of a multi joint robot arm by wire-pulley system
Memoirs of the Faculty of Engineering, Yamaguchi University Volume 50 Issue 2
Page 93-98
published_at 2000-03
Title
ワイヤー－プーリ系を利用した多関節ロボットアームの駆動と制御
Driving and control of a multi joint robot arm by wire-pulley system
Creators
Saito Takashi
Source Identifiers
As a driving device, wire- pulley system is employed. It enables the weight of a multi joint robot arm to lighten and to have flexibility in motion. One link is driven by a pair of wires wounded by two motors or a couple of a motor and an electromagnetic clutch. The input forces that originate in the tension of the wire are incorporated in the mathematical model for the robot arm that has three degrees of freedom. LQI control is applied on the model and the experiments are performed bases on the strategy. Simulation results show that this system has the antagonistic effect.
Languages
jpn
Resource Type
departmental bulletin paper
Publishers
山口大学工学部
Date Issued
2000-03
File Version
Version of Record
Access Rights
open access
Relations
[ISSN]1345-5583
[NCID]AA11422756
[isVersionOf]
[URI]http://memoirs.lib-e.yamaguchi-u.ac.jp/
Schools
工学部