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- W367063708 abstract "This paper proposes a control method for a rigid body motion system which has unknown nonlinearities such as variation of inertia, corioli's force, nonlinear driving system, gravity and friction. Sisce feedback control has delay, it is insufficient for precise tracking control in motion system. Then, feed forward control is necessary. In order to execute feed forward control for uncertain of unknown motion systems, the control system to obtain the motion model must be implemented in the control system. In this paper a method of obtaining the motion model is proposed. It gets possible no consitute inverse dynamics of the motion system and feed forward control by this method. In this paper the method of obtaining the motion model is derived by hyper stable theory. Further, this paper shows the effectiveness of the proposed motion control method by demonstrating an experiment of tracking desired trajectory in a 2 Degrees of Freedom link motion system." @default.
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- W367063708 modified "2023-09-25" @default.
- W367063708 title "Obtaining a Model and Control for a Rigid Body Motion System. 2nd Report. Case of a 2 Degrees of Freedom Link Motion System including Structural Nonliniearity, Nonlinear Driving Characteristics, Gravity and Friction." @default.
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- W367063708 doi "https://doi.org/10.1299/kikaic.66.2988" @default.
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