環境適応に関するハイブリッド制御を使用したロボットの組立作業の安定実現

Material type: 文書・図像類

Author: 孟, 正大ほか

Publisher: 愛知工業大学

Publication date: 1999-03-31

Material Format: Digital

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Note (General)：: A improved hybrid control approach is presented in this paper. The control approach is based on external force and force tracking loops which are clos...

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Material Type: 文書・図像類
Title: 環境適応に関するハイブリッド制御を使用したロボットの組立作業の安定実現
Author/Editor: 孟, 正大
安藤, 英由樹
平松, 誠治
加藤, 厚生
Author Heading: 孟, 正大
安藤, 英由樹
平松, 誠治
加藤, 厚生
Publication, Distribution, etc.: 愛知工業大学
Publication Date: 1999-03-31
Publication Date (W3CDTF): 1999-03-31
Alternative Title: カンキョウテキオウニカンスルハイブリッドセイギョオシヨウシタロボットノクミタテサギョウノアンテイジツゲン
Stable Execution of Assembly Tasks with Robot Using Hybrid Control Adaptive to Environmental Changes
Periodical title: 愛知工業大学研究報告. B, 専門関係論文集 = Bulletin of Aichi Institute of Technology. Part B
No. or year of volume/issue: 34
Volume: 34
Pages: 9-14
ISSN (Periodical Title): ISSN : 0387-0812
Text Language Code: jpn
Target Audience: 一般
Note (General): A improved hybrid control approach is presented in this paper. The control approach is based on external force and force tracking loops which are closed around the robot position system. An Adaptive algorithm is given when robot is interacting with environment with parameter uncertainties. For a well designed robot position system, external force loops can be designed and controlled easily with good performance. The approach is discussed in detail. In addition, non-circular peg-into-hole assembly tasks are performed with robots using this approach.
identifier:http://repository.aitech.ac.jp/dspace/handle/11133/1078
Access Restrictions: 限定公開
Periodical Title (NCID): AN00007801
https://ci.nii.ac.jp/ncid/AN00007801
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 愛知工業大学 : 愛知工業大学学術情報リポジトリ