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  1. 紀要論文
  2. 琉球大学工学部紀要
  3. 50号
  1. 部局別インデックス
  2. 工学部

外乱オブザーバにファジィ推論機能を付加したロボットアームの軌道制御法

http://hdl.handle.net/20.500.12000/5467
http://hdl.handle.net/20.500.12000/5467
710fc196-8365-4215-b076-e82b47d17bd8
名前 / ファイル ライセンス アクション
No50p141.pdf No50p141.pdf
Item type デフォルトアイテムタイプ(フル)(1)
公開日 2008-03-31
タイトル
タイトル 外乱オブザーバにファジィ推論機能を付加したロボットアームの軌道制御法
言語 ja
作成者 上里, 勝實

× 上里, 勝實

ja 上里, 勝實

千住, 智信

× 千住, 智信

ja 千住, 智信

安次嶺, 伸吾

× 安次嶺, 伸吾

ja 安次嶺, 伸吾

上古殿, 寿

× 上古殿, 寿

ja 上古殿, 寿

Uezato, Katsumi

× Uezato, Katsumi

en Uezato, Katsumi

Senjyu, Tomonobu

× Senjyu, Tomonobu

en Senjyu, Tomonobu

Ashimine, Shingo

× Ashimine, Shingo

en Ashimine, Shingo

Kamifurutono, Hisashi

× Kamifurutono, Hisashi

en Kamifurutono, Hisashi

アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
主題
言語 en
主題Scheme Other
主題 Direct Drive Robot
言語 en
主題Scheme Other
主題 Fuzzy Control
言語 en
主題Scheme Other
主題 Disturbance Torque Observer
言語 en
主題Scheme Other
主題 Estimation Error
内容記述
内容記述タイプ Other
内容記述 It is expected that a direct drive (DD) robot can keep high positioning accuracy and quick-response and so on, because it does not have back-lash without gear. Therefore, DD robot is working in many plants in recent years.\nHowever, it is found that non-linear force of joints interference is big, so the control performance is inferior. Therefore, to keep the control performance with a high-performance, the control system which can make up for the nonlinear force is needed. In order to make up for the non-linear force, we consider the non-linear force as a disturbance, and we estimate the disturbance using observer, and add it to the control input. However the estimated disturbance torque contains estimation error. So, the control system which can compensate the estimation error is needed. The observer-based robot arm controller with fuzzy reasoning, which can infer the estimation error and can compensate the influence of estimation error, is proposed in this paper.
内容記述タイプ Other
内容記述 紀要論文
出版者
言語 ja
出版者 琉球大学工学部
言語
言語 jpn
資源タイプ
資源タイプ departmental bulletin paper
資源タイプ識別子 http://purl.org/coar/resource_type/c_6501
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
識別子
識別子 http://hdl.handle.net/20.500.12000/5467
識別子タイプ HDL
収録物識別子
収録物識別子タイプ ISSN
収録物識別子 0389-102X
収録物識別子タイプ NCID
収録物識別子 AN0025048X
収録物名
言語 ja
収録物名 琉球大学工学部紀要
書誌情報
号 50, p. 141-154
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