2P1-B06 Feed-Forward Control of a Robotic Mechanism Using Parallel Solution Scheme
2P1-B06 並列的解法を用いたロボット機構のフィードフォワード制御(動作計画と制御の新展開)

Kouji Yamanaka, Hiromasa Ueda, Daigoro Isobe
2007 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
In this paper, the parallel solution scheme is applied to the inverse dynamics computation of a robotic mechanism, and is implemented into a control system. This paper explains the process of the joint torque calculation by the parallel solution scheme and the outline of the robotic mechanism. Some control experiments are carried out on the robotic mechanism, with feed-forward plus feedback control, in comparison with single feedback control system. The results indicate the validity of the
more » ... lel solution scheme in feed-forward control of actual robotic mechanism.
doi:10.1299/jsmermd.2007._2p1-b06_1 fatcat:ltseqqjse5gkzi53yphqkh6ncy