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Article: 油圧アクチュエータを用いたパラレルリンクマニピュレータの力制御
| Title | 油圧アクチュエータを用いたパラレルリンクマニピュレータの力制御 Force control of parallel link manipulator |
|---|---|
| Authors | |
| Keywords | Robotics Force control Parallel link manipulator Jacobian Damping control |
| Issue Date | 1996 |
| Citation | 日本機械学会論文集Ｃ編, 1996, v. 62, n. 601, p. 3536-3542 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, v. 62, n. 601, p. 3536-3542 How to Cite? |
| Abstract | We propose a force control algorithm for a Stewart Platform parallel link manipulators. First, we design a control scheme for a one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for the parallel link manipulator is also proposed. The control scheme design is based on a velocity based force control algorithm so that we can use velocity-controlled hydraulic actuators as parallel link manipulators. The proposed algorithm is applied to an experimental system and the results illustrate the validity of the system. |
| Persistent Identifier | http://hdl.handle.net/10722/302665 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Takeo, Koji | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Kitayama, Hitoshi | - |
| dc.contributor.author | Takeuchi, Nobuto | - |
| dc.contributor.author | Murakami, Hiroki | - |
| dc.date.accessioned | 2021-09-07T08:42:21Z | - |
| dc.date.available | 2021-09-07T08:42:21Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 1996, v. 62, n. 601, p. 3536-3542 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, v. 62, n. 601, p. 3536-3542 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302665 | - |
| dc.description.abstract | We propose a force control algorithm for a Stewart Platform parallel link manipulators. First, we design a control scheme for a one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for the parallel link manipulator is also proposed. The control scheme design is based on a velocity based force control algorithm so that we can use velocity-controlled hydraulic actuators as parallel link manipulators. The proposed algorithm is applied to an experimental system and the results illustrate the validity of the system. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Robotics | - |
| dc.subject | Force control | - |
| dc.subject | Parallel link manipulator | - |
| dc.subject | Jacobian | - |
| dc.subject | Damping control | - |
| dc.title | 油圧アクチュエータを用いたパラレルリンクマニピュレータの力制御 | - |
| dc.title | Force control of parallel link manipulator | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.62.3536 | - |
| dc.identifier.scopus | eid_2-s2.0-0030232921 | - |
| dc.identifier.volume | 62 | - |
| dc.identifier.issue | 601 | - |
| dc.identifier.spage | 3536 | - |
| dc.identifier.epage | 3542 | - |