Motion Control for Robotic Arm with Rotational Counterweights

被引：0
|
作者：
Ishine, Ryosuke [1 ]
Kawamura, Akihiro [2 ]
Kurazume, Ryo [2 ]
Kawamura, Sadao [3 ]
机构：
[1] Kyushu Univ, Grad Sch Informat Sci & Elect Engn, Nishi Ku, 744 Motooka, Fukuoka 8190395, Japan
[2] Kyushu Univ, Fac Informat Sci & Elect Engn, Nishi Ku, 744 Motooka, Fukuoka 8190395, Japan
[3] Ritsumeikan Univ, Fac Sci & Engn, Dept Robot, 1-1-1 Nojihigashi, Kusatsu, Shiga 5258577, Japan
来源：
2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2017年
关键词：
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper proposes a new control method for the robotic arm with rotational counterweights. This robotic arm is actuated by gravitational and inertia torque of the counterweights. To date, the control law which achieves the angle control of the robot has been proposed. However, in the research, only 1 DOF robot is discussed. Moreover, the stability analysis of the dynamics hasn't been shown. The new control method proposed in this paper achieves the angle control of 2 DOFs, and we can prove the dynamic stability. In this paper, we show the convergence of the dynamics considering the method. Also we conduct numerical simulations for position control of 2 DOFs robotic arm. Verifying the angles of the robotic arm converge to its desired angles, the utility of the method is demonstrated.
引用
收藏
页码：608 / 613
页数：6
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