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フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発(機械力学,計測,自動制御)
https://sucra.repo.nii.ac.jp/records/13763
https://sucra.repo.nii.ac.jp/records/13763367d7da9-6e19-49ec-a195-a2d0591cc7d4
名前 / ファイル | ライセンス | アクション |
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A1003348.pdf (671.8 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-02-24 | |||||
タイトル | ||||||
タイトル | フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発(機械力学,計測,自動制御) | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Motion Control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Artificial Muscle | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | McKibben Artificial Muscle | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Pneumatic Actuator | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Feedforward Control | |||||
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 | journal article | |||||
タイトル(別言語) | ||||||
その他のタイトル | Development of Pneumatic Artificial Muscle Manipulator with Feedforward and Feedback Control(Mechanical Systems) | |||||
著者 |
宮田, 俊介
× 宮田, 俊介× 辻, 俊明× 橋本, 卓弥× 小林, 宏 |
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著者 ローマ字 | ||||||
MIYATA, Syunsuke | ||||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
HASHIMOTO, Takuya | ||||||
著者 ローマ字 | ||||||
KOBAYASHI, Hiroshi | ||||||
著者 所属 | ||||||
(株)神戸製鋼所 | ||||||
著者 所属 | ||||||
埼玉大学工学部 | ||||||
著者 所属 | ||||||
東京理科大学工学部 | ||||||
著者 所属 | ||||||
東京理科大学工学部 | ||||||
著者 所属(別言語) | ||||||
著者 所属(別言語) | ||||||
Department of Electrical and Electronic Systems, Faculty of Engineering, Saitama University | ||||||
書誌情報 |
日本機械学會論文集. C編 en : Transactions of the Japan Society of Mechanical Engineers. C 巻 74, 号 748, p. 3004-3011, 発行日 2008 |
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年月次 | ||||||
2008-1 | ||||||
出版者名 | ||||||
出版者 | 社団法人日本機械学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 03875024 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | A McKibben artificial muscle is a good candidate as an actuator of man-machine systems although it has quite slow response. This study proposes a control method, which integrates feedforward control and feedback control, to achieve rapid response. The feedforward input is given from a database acquired by global identification since a robot arm with McKibben artificial muscles has a complicated model. An identification error is mainly caused by mechanical hysteresis on the McKibben artificial muscle. Therefore, a technical solution to reduce the effect of mechanical hysteresis is introduced. Experimental results show that the convergence performance is much improved by the proposed method. Input shaping by a sin curve reduces oscillation and further improves the convergence performance. The main issue of the method is that it takes much effort for the global identification on many sample points. Hence, experimental results with reduced number of identification points are shown and their control performances are compared. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | rights: 社団法人日本機械学会 rights: 本文データは学協会の許諾に基づきCiNiiから複製したものである relation: IsVersionOf:http://ci.nii.ac.jp/naid/110007008109/ |
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版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
作成日 | ||||||
日付 | 2010-02-24 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1003348 |