TY - GEN
T1 - Motion control for robotic arm with rotational counterweights
AU - Ishine, Ryosuke
AU - Kawamura, Akihiro
AU - Kurazume, Ryo
AU - Kawamura, Sadao
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85050892598&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050892598&partnerID=8YFLogxK
U2 - 10.1109/SII.2017.8279288
DO - 10.1109/SII.2017.8279288
M3 - Conference contribution
AN - SCOPUS:85050892598
VL - 2018-January
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 608
EP - 613
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -