非線形バネを用いた腱駆動機構の剛性楕円制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Stiffness Ellipse Control of Tendon Mechanisms with Nonlinear Springs

著者名: 奥村　文博（三重大学大学院工学研究科），駒田　諭（三重大学大学院工学研究科），平井　淳之（三重大学大学院工学研究科）

著者名(英語): Fumihiro Okumura (Graduate School of Engineering, Mie University), Satoshi Komada (Graduate School of Engineering, Mie University), Junji Hirai (Graduate School of Engineering, Mie University)

キーワード: 非線形バネ，腱駆動機構，剛性楕円制御　　nonlinear springs，tendon mechanisms，stiffness ellipse control

要約(英語): Versatile and safe manipulators are required for use in human environments. A tendon mechanism with nonlinear springs that can mechanically adjust joint stiffness is one candidate that can satisfy the requirements of versatility and safety. In this paper, a hybrid stiffness ellipse control for controlling both mechanical and control stiffness at the end of the manipulator is proposed for the tendon mechanisms. This study shows the transformation of the stiffness ellipse at the ends of arms to joint stiffness. The transformation is applied to both mechanical joint stiffness and controller gain of joint angle controller. Simulation results verify the validity of the proposed method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 340-346 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_340/_article/-char/ja/