著者

小野 敏郎

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.45, no.4, pp.272-275, 2006-04-10 (Released:2009-11-26)

参考文献数

3

著者

大須賀 公一 吉田 浩治 小野 敏郎

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.14, no.7, pp.1018-1025, 1996-10-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 6

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In this paper, we propose a new design concept of manipulator which is called “Torque-Unit Manipulator (TUM) ”. The Torque-Unit Manipulator has an open-loop kinematic chain as the typical traditional manipulators do, however each joint of which has one degree of freedom free joint. An actuator called “torque unit” is mounted on an arbitrary place of the link. The merit of the TUM would be an easy maintenance. In this paper, the dynamic model and the position-controllability of the N degree-of-freedom general TUM are shown in detail. A control system is designed for the TUM and its effectiveness is shown by a simple simulation.

著者

逢坂 一正 藤本 真作 小野 敏郎

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:03875024)

巻号頁・発行日

vol.58, no.552, pp.2489-2494, 1992

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Optimal reference trajectories for n-link robot manipulators are planned. They are generated from the performance indices which are the integral of the square of acceleration, jerk, and so on of the trajectory with respect to the control time. The optimal reference trajectories are compared through an experiment in high-speed motion control of a 2-link robot manipulator, and a good control performance is obtained in the case of higher continuity of the trajectory.

著者

杉江 俊治 大須賀 公一 小野 敏郎

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.24, no.4, pp.350-356, 1988-04-30 (Released:2009-03-27)

参考文献数

12

被引用文献数

1

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This paper presents a robust control law which achieves model following with prescribed accuracy for a class of nonlinear systems which contain bounded unknown disturbances and uncertain nonlinear terms. Our method consists of nonlinear compensation and linear compensation. The former ensures robustness for the plant, the latter achieves both desired model following response and desired initial error convergence. The distinguish feature of our method is that admissible control error bound, smoothness of input, reference model (or desired command response), and initial error response can be specified independently, and that the controller is designed based on the information of the “bounds” of uncertainty terms.

著者

和田 光代 石崎 麻子 小野 敏郎 黒部 能幸

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.9, no.5, pp.249-251, 1996-05-15

参考文献数

5

被引用文献数

2