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ステップモータによる力制御の実現とロボットフィンガへの応用
http://hdl.handle.net/2297/42098
http://hdl.handle.net/2297/420983996d04a-fa1f-4f66-8442-46b6fe6430fa
名前 / ファイル | ライセンス | アクション |
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TE-PR-KAMIYA-Y-1412.pdf (469.9 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | ステップモータによる力制御の実現とロボットフィンガへの応用 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Force Control for Robotic Fingers Driven by Stepping Motor | |||||
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 | journal article | |||||
著者 |
張, 勤
× 張, 勤× 神谷, 好承× 関, 啓明× 疋津, 正利× 野村, 久直 |
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書誌情報 |
精密工学会誌 = Journal of the Japan Society for Precision Engineering 巻 66, 号 9, p. 1412-1416, 発行日 2000-01-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0912-0289 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN1003250X | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.2493/jjspe.66.1412 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes details of a set of robotic fingers driven by stepping motors. Robotic fingers need position, velocity and force control realized by stepping motor. New control system proposed in this study contains a generating system of real-time pulse series for driving stepping motor in the control loop. So, real-time sensor feedback can be achieved in the controlling stepping motor. When the robotic fingers complete a work as an operation, velocity controlled robotic fingers must change to the another control mode such as position or force control. This study treats a method how to provide force control to a robotic finger, and shows a method how to supply a sensor feedback to a stepping motor. It is found that a force controlled robotic finger shows a good performance of parts handling. | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering 精密工学会 | |||||
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 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/jjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ |