Evaluation Indices of Stiffness Control for Its Performance Comparison

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2013/01/01

タイトル(英語): Evaluation Indices of Stiffness Control for Its Performance Comparison

著者名: Makoto Kamibayashi (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University/PRESTO grant

著者名(英語): Makoto Kamibayashi (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University/PRESTO grant from Japan Science and Technology Agency (JST))

キーワード: twin drive system，stiffness control，friction compensation，external force observer，evaluation indices of stiffness

要約(英語): Stiffness is an important factor for robots in a human environment. Therefore, many methods for stiffness control, which enable robots to setup stiffness, have been developed. Although the performance of stiffness control is quite an important factor, no methods for quantitative comparison of these methods exist. Thus, the characteristics and advantages of a stiffness control method are quantitatively investigated and compared, and certain evaluation criteria that can assist in guiding the design process of stiffness control systems are proposed. The experimental results show the quantitative comparison among three types of robot arms and investigate their property.

本誌: IEEJ Journal of Industry Applications Vol.2 No.1 （2013） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 61-66 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/1/2_61/_article/-char/ja/