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Accession number;02A0713940
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| Title;Control Experiments of Link Mechanisms Using Inverse Dynamics Calculated by FEM. |
| Author;
CHIKUGO YOICHI
(Univ. of Tsukuba, Graduate School)
SATO SHUNSUKE
(Univ. of Tsukuba, Graduate School)
ISOBE DAIGORO
(Univ. of Tsukuba)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.5;PAGE.2P2.C02(1)-2P2.C02(2)(2002)
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| Figure&Table&Reference;FIG.4, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;In this report, a new calculation scheme of inverse dynamics for link mechanisms using Finite Element Method (FEM) is implemented into a control system. Joint torques of link mechanisms are calculated in parallel, and also incrementally, in the calculation scheme. Therefore, some investigations are made to verify the validity of the control system. This paper explains the outline of the control system, in which the proposed scheme is used to supply a feed-forward control. Some control experiments are carried out, and the results are compared with those by a PD control system. (author abst.) |
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