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NAOSITE : Nagasaki University's Academic Output SITE > Faculty of Engineering > Bulletin > Reports of the Faculty of Engineering, Nagasaki University > Volume 18, No. 30 >


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Title: ロボットアームのダイレクト駆動における学習制御について
Other Titles: Learning Control Method for Direct Drive of Robot Arm
Authors: 小山, 純 / 樋口, 剛 / 小杉, 辰彦 / 山田, 英二
Authors (alternative): Oyama, Jun / Higuchi, Tsuyoshi / Kosugi, Tatsuhiko / Yamada, Eiji
Issue Date: Jan-1988
Publisher: 長崎大学工学部 / Faculty of Engineering, Nagasaki University
Citation: 長崎大学工学部研究報告, 18(30), pp.17-22; 1988
Abstract: Control method of direct-drive arm has been studied to realize the high speed and high accuracy position control. It is one of the important problem to reduce the speed fluctuation caused by the arm weight. In this paper, a learning control method based on the periodicity of the robot arm action is proposed to drive the motor with constant speed. Availability of this control method is conformed by experiment.
URI: http://hdl.handle.net/10069/24264
ISSN: 02860902
Type: Departmental Bulletin Paper
Text Version: publisher
Appears in Collections:Volume 18, No. 30

Citable URI : http://hdl.handle.net/10069/24264

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