非駆動関節を有するマニピュレータの動的制御（２自由度マニピュレータの位置制御系）
荒井 裕彦， 舘 すすむ
日本機械学会論文集Ｃ編，Vol.57，No.534，pp.619-624，1991．
［和文要旨］
アクチュエータの代わりに保持ブレーキをもつ非駆動関節を有するマニピュレータを試作し，動力学的干渉性を利用して非駆動関節を制御する手法の有効性を実験的に検証した．試作マニピュレータは２自由度の水平多関節型で，第１軸が能動関節，第２軸が非駆動関節である．非駆動関節のブレーキを解放した状態において，動力学的干渉性を利用し，能動関節の運動によって非駆動関節を間接的に制御する．非駆動関節のブレーキを固定した状態では能動関節を制御する．これら二つの制御モードの組合わせによりマニピュレータ全体の姿勢を制御する．三つのレベルからなる位置制御系の構成について述べる．
Dynamic Control of a Manipulator with Passive Joints
(Position Control System of a Two-Degree-of-Freedom Manipulator)
Hirohiko Arai and Susumu Tachi
Transactions of the Japan Society of Mechanical Engineers (C)，Vol.57，No.534，pp.619-624，1991．
[Abstract]
The authors propose a method of controlling the position of a manipulator with passive joints
which have holding brakes instead of actuators. In this method, the coupling characteristics of
manipulator dynamics are used, and no additional mechanisms are required. In this paper, the
effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is
a two-degree-of-freedom, horizontally articulated manipulator. The first axis is an active joint and
the second axis is a passive joint. While the brake of the passive joint is released, the passive
joint is indirectly controlled by the motion of the active joint through the use of dynamic coupling.
While the brake is engaged, the active joint is controlled. By combining these two control modes,
the total position of the manipulator is controlled. The experiments show that the precise positioning
of the passive joint is feasible by use of the proposed method.
[Keywords]
Robotics, Manipulator, Dynamic Coupling, Passive Joint, Point-to-Point Control