| タイトル | Active control of robot manipulator compliance |
| 本文（外部サイト） | http://hdl.handle.net/2060/19870002561 |
| 著者（英） | Pooran, F. J.; Nguyen, C. C. |
| 著者所属（英） | Catholic |
| 発行日 | 1986-11-01 |
| 言語 | eng |
| 内容記述 | Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 87N11994
NAS 1.26:177183
NASA-CR-177183 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/152899 |
