ロボット運動の高速化に関する基礎的研究

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4166
File
Title
ロボット運動の高速化に関する基礎的研究
Title Alternative
A Basic Study on the Speed-up of Robot Motions
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 吉田 和信
ヨミ ヨシダ カズノブ
別名 Yoshida Kazunobu
Subject
speed-up
acceleration type regulator
settling time
VSS
straight position
Abstract

The control techniques for the high-speed motion of robot manipulators have been investigated using a straight position control system having only one degree of freedom along its horizontal moving direction. In the acceleration-evaluating type optimal regulator system, the greater the acceleration evaluation in its performance index, the more noticeable becomes the speed-up of the motion. Especially in the modified acceleration regulator system with a prescribed degree of stability σ, the best settling time (Ts)= 0.4 sec can be achieved. In the VSS sliding mode control system proposed by Yeung, the approximately similar settling time is also realized with chattering to some extent.

Journal Title
広島工業大学研究紀要
Volume
30
Spage
27
Epage
35
Published Date
1996
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima