2024-03-29T00:19:16Z
https://niigata-u.repo.nii.ac.jp/oai
oai:niigata-u.repo.nii.ac.jp:00003773
2022-12-15T03:36:50Z
423:424:425
453:454
A Control Algorithm of a Redundant Parallel Manipulator by an Internal Force Sensor
内力センサを用いた冗長パラレルマニピュレータの制御手法について
内力センサを用いた冗長パラレルマニピュレータの制御手法について
三村, 宣治
45274
小野寺, 良二
45275
佐谷, 明映
45276
Internal Force Sensor
Parallel Manipulator
Redundant Actuation
Position Control
Torque Control
This paper describes a new control method for a redundant parallel manipulator using an internal force sensor. In conventional control methods of a redundant parallel manipulator, optimal torque minimized actuator torque or maximized manipulability by using evaluation function is decided and used. However, these methods have to use a torque controlled actuator. It's torque is small, also it is expensive. So, we propose a new control method using a conventional geared actuator in this paper. In our method, internal forces produced by actuator redundancy is detected by an internal force sensor and controlled to be zero. We demonstrate about the proposed control system and the structure, the principle, and the experimental result of the redundant parallel manipulator using the internal force sensor.
journal article
日本機械学会
2005-01
application/pdf
日本機械学会論文集. C編
701
71
185
192
日本機械学会論文集. C編
AN00187463
03875024
https://niigata-u.repo.nii.ac.jp/record/3773/files/9_0176.pdf
jpn
http://ci.nii.ac.jp/naid/110006264512
日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である