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フレキシブルアームによる懸垂物の移動制御
http://hdl.handle.net/10258/00008861
http://hdl.handle.net/10258/000088610f07e7ea-851d-400c-b8f1-9b39f9c8c40d
名前 / ファイル | ライセンス | アクション |
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10_2_226.pdf (1.9 MB)
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Item type | 学術雑誌論文 / Journal Article.(1) | |||||
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公開日 | 2016-04-27 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | フレキシブルアームによる懸垂物の移動制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Motion Control of Flexible Arm with Suspended Load | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Flexible Arm | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Vibration Control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Non-Linear Systems | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Distributed-Parameter Systems | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Energy Dissipation | |||||
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 | |||||
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 | |||||
著者 |
橋本, 幸男
× 橋本, 幸男× 土谷, 武士 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper discusses a control for a non-linear distributed-parameter system of a flexible arm with a suspended load, taking mass and stiffness distributions of the arm into consideration. The fact that the rest system has null potential and kinetic energy is employed to derive an asymptotically stable control law which suppresses both the load-swing and the elastic vibration of the link and controls the angular position of the arm. The approach needs neither linealization of the system dynamics nor the modal decompositon of the dynamics. Therefore, the resultant control law does stabilize the non-linear dynamics of the system free from the traditional spillover problems. The validity of the proposed approach is demonstrated by several experiments, and then the effectiveness of the controller is shown. | |||||
言語 | en | |||||
書誌情報 |
ja : 日本ロボット学会誌 en : Journal of the Robotics Society of Japan 巻 10, 号 2, p. 226-234, 発行日 1992-04-15 |
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出版者 | ||||||
言語 | ja | |||||
出版者 | 日本ロボット学会 | |||||
出版者版へのリンク | ||||||
10.7210/jrsj.10.226 | ||||||
https://doi.org/10.7210/jrsj.10.226 | ||||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.7210/jrsj.10.226 | |||||
論文ID(NAID) | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | NAID | |||||
関連識別子 | 10006714834 | |||||
日本十進分類法 | ||||||
主題Scheme | NDC | |||||
主題 | 548 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
権利 | ||||||
言語 | ja | |||||
権利情報 | © 1992 日本ロボット学会 | |||||
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 | |||||
主となる版 | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/article/jrsj1983/10/2/10_2_226/_pdf | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |