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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
http://hdl.handle.net/10069/24264
http://hdl.handle.net/10069/242644b7b0868-292f-4ea3-ab31-13240c30e577
名前 / ファイル | ライセンス | アクション |
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kogaku18_30_03.pdf (967.2 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2010-10-18 | |||||
タイトル | ||||||
タイトル | 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 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
著者 |
小山, 純
× 小山, 純× 樋口, 剛× 小杉, 辰彦× 山田, 英二 |
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著者別名 | ||||||
姓名 | Oyama, Jun | |||||
著者別名 | ||||||
姓名 | Higuchi, Tsuyoshi | |||||
著者別名 | ||||||
姓名 | Kosugi, Tatsuhiko | |||||
著者別名 | ||||||
姓名 | Yamada, Eiji | |||||
その他のタイトル | ||||||
その他のタイトル | Learning Control Method for Direct Drive of Robot Arm | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. | |||||
書誌情報 |
長崎大学工学部研究報告 en : Reports of the Faculty of Engineering, Nagasaki University 巻 18, 号 30, p. 17-22, 発行日 1988-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02860902 | |||||
EISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 18805574 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00178418 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
出版者 | ||||||
出版者 | 長崎大学工学部 | |||||
出版者別言語 | ||||||
Faculty of Engineering, Nagasaki University | ||||||
引用 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 長崎大学工学部研究報告, 18(30), pp.17-22; 1988 |