著者

金子 真 和田 充雄 前川 仁 谷江 和雄

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.9, no.4, pp.437-444, 1991-08-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

1

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This paper discusses transmission characteristics of tendon-sheath driving system typically used to actuate robotic finger joints, and also their effects on force control system. For a simple tendonsheath model, we first formulate the transmission characteristics with the newly introduced two physical parameters apparent tendon-stiffness and equivalent backlash. An interesting aspect is that apparent tendon-stiffness changes when the tendon is pulled or loosened, while tendon-stiffness itself keeps constant. This unexpected behavior is confirmed by simulations as well as experiments. We also consider the effect of apparent tendon-stiffness on force control precisely and show that the direction-dependent behavior ofapparent tendon-stiffness eventually brings about a direction-dependent response in the force control system.

著者

熊谷 徹 秋田 敏 和田 充雄

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.58, no.550, pp.1781-1786, 1992-06-25

被引用文献数

1

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We present a new learning control method to control a multi-input-output system. In conventional learning controllers using a neural network, it is difficult to treat a multi-input-output system because of the difficulty in designing reference models. Hence, we propose to divide a complex plant into sub-plants and to use a learning controller for each one. We use our method to the regulation problem of the inverted pendulum that is a one-input, two-output system. In the simulation and the experimental system, we regulate the inverted pendulum and show the effectiveness of this method. We also show that our learning control system can regulate a system that has a time lag between the input and the output signals. Moreover, we show that a reference model of order lower than the plant order is available.