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5自由度スカラ型ロボットマニピュレータの位置と力のハイブリット制御
https://ous.repo.nii.ac.jp/records/1066
https://ous.repo.nii.ac.jp/records/106629e2dd28-20b9-4fbd-815b-0cacc423f207
名前 / ファイル | ライセンス | アクション |
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KJ00000063575.pdf (321.4 kB)
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Item type | 紀要論文(ELS) / Departmental Bulletin Paper(1) | |||||
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公開日 | 1994-03-31 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | 5自由度スカラ型ロボットマニピュレータの位置と力のハイブリット制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Hybrid Position/Force Control for 5-link Robot Manipulator | |||||
タイトル | ||||||
言語 | ja-Kana | |||||
タイトル | 5 ジユウド スカラガタ ロボット マニピュレータ ノ イチ ト チカラ ノ ハイブリット セイギョ | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
ページ属性 | ||||||
内容記述タイプ | Other | |||||
内容記述 | P(論文) | |||||
著者名 |
逢坂, 一正
× 逢坂, 一正× 尾田, 光成 |
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著者所属(日) | ||||||
ja | ||||||
岡山理科大学工学部機械工学科 | ||||||
著者所属(日) | ||||||
ja | ||||||
岡山理科大学大学院工学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Department of Mechanical Engineering, Okayama University of Science | ||||||
著者所属(英) | ||||||
en | ||||||
Graduate School of Engineering, Okayama University of Science | ||||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper we discuss some control performances of a robot manipulator which is manufactured in our laboratory in order to write letters of calligraphy. The dynamic base parameters of the manipulator are first identified and the manipulator is then controlled by a dynamic hybrid position/force control method. The control errors for trajectory tracking are discussed by a simulation method and the probability to realize the calligraphy by robot manipulator is clarified. | |||||
言語 | ja-Kana | |||||
雑誌書誌ID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00033244 | |||||
書誌情報 |
ja : 岡山理科大学紀要. A, 自然科学 en : Bulletin of Okayama University of Science. A, Natural Sciences 巻 29, p. 203-211, 発行日 1994-03-31 |