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鉄棒ロボットの数理解析と運動制御
http://hdl.handle.net/10258/00008867
http://hdl.handle.net/10258/00008867b079b213-9703-4b11-801e-2b5d163f88d2
名前 / ファイル | ライセンス | アクション |
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18_4_515.pdf (3.6 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 | 鉄棒ロボットの数理解析と運動制御 | |||||||||||
タイトル | ||||||||||||
言語 | en | |||||||||||
タイトル | Mathematical Analysis and Motion Control for Horizontal Bar Gymnastic Robot | |||||||||||
言語 | ||||||||||||
言語 | jpn | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | Gymnast Robot | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | Resonance | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | Parametric Excitation | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | Entrainment | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | Van der Pol's Equation | |||||||||||
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 |
梶原, 秀一
× 梶原, 秀一
WEKO
39396
× 橋本, 幸男× 松田, 敏彦× 土谷, 武士 |
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室蘭工業大学研究者データベースへのリンク | ||||||||||||
梶原 秀一(KAJIWARA Hidekazu) | ||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000059_ja.html | ||||||||||||
抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link ‘in phase’ with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot. | |||||||||||
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 18, 号 4, p. 515-520, 発行日 2000-05-15 |
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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.18.515 | ||||||||||||
http://doi.org/10.7210/jrsj.18.515 | ||||||||||||
DOI | ||||||||||||
関連タイプ | isIdenticalTo | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | 10.7210/jrsj.18.515 | |||||||||||
論文ID(NAID) | ||||||||||||
関連タイプ | isIdenticalTo | |||||||||||
識別子タイプ | NAID | |||||||||||
関連識別子 | 10004733714 | |||||||||||
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 | © 2000 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/jrsj1983/18/4/18_4_515/_pdf | |||||||||||
フォーマット | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | application/pdf |