Non-Interference Control Method For Planetary Gear System of Bi-articular Actuators Robot Arm

カテゴリ: 全国大会

論文No: 4-201

グループ名: 【全国大会】平成28年電気学会全国大会論文集

発行日: 2016/03/05

タイトル(英語): Non-Interference Control Method For Planetary Gear System of Bi-articular Actuators Robot Arm

著者名: Minh Tan Ngo(長岡技術科学大学),宮崎 敏昌(長岡技術科学大学)

著者名(英語): NgoMinhTan|MiyazakiToshimasa

キーワード: 遊星歯車,二関節筋機構,非干渉制御

要約(日本語): In recent years, there has been increasing attention on biomechanical robot arm such as manipulators equipped with bi-articular actuators. Planetary gear system is used to recreate the bi-articular actuators mechanism. In this paper, a Non-Interference control method is proposed for planetary gear system in order to recreate the ideal bi-articular actuators mechanism. By adjusting the gain of the Non-Interference controller the influence between the gears of the planetary gear system is reduced and the performance of the system is increased.

原稿種別: 英語

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