Paper Info
Title
Motion Control For Robotic Arm With Rotational Counterweights
Abstract
This paper proposes a new control method for the robotic arm with rotational counterweights. This robotic arm is actuated by gravitational and inertia torque of the counterweights. To date, the control law which achieves the angle control of the robot has been proposed. However, in the research, only 1 DOF robot is discussed. Moreover, the stability analysis of the dynamics hasn't been shown. The new control method proposed in this paper achieves the angle control of 2 DOFs, and we can prove the dynamic stability. In this paper, we show the convergence of the dynamics considering the method. Also we conduct numerical simulations for position control of 2 DOFs robotic arm. Verifying the angles of the robotic arm converge to its desired angles, the utility of the method is demonstrated.
Year
Venue
Field
2017
2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)
Convergence (routing),Robotic arm,Motion control,Torque,Control theory,Control engineering,Vehicle dynamics,Engineering,Inertia,Robot
DocType
ISSN
Citations 
Conference
2474-2317
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Ryosuke Ishine100.34
Akihiro Kawamura2167.41
Ryo Kurazume362274.18
Sadao Kawamura41609377.75