論文

1993年10月5日

精密加工ロボットの制御系設計 : 放電改質加工への応用

精密工学会誌
  • 中根 浩幸
  • ,
  • 成清 辰生
  • ,
  • 芥田 友彦
  • ,
  • 毛利 尚武
  • ,
  • 齋藤 長男

59
10
開始ページ
1637
終了ページ
1642
記述言語
日本語
掲載種別
DOI
10.2493/jjspe.59.1637
出版者・発行元
公益社団法人精密工学会

Recently an industrial multi-link robot is expected to be applied to precision machining. However, the multi-link robot manipulators are highly coupled non-linear systems and their equations of motions are hardly identified. Therefore it has been thought that precision machining using a multi-link robot is impossible. In this paper, a new type of precision machining robot in proposed. This robot consists of a multi-link robot and the machining unit for micro-positioning. The control system of this robot is modelled as the singular perturbed system and is applied to the position control and electric discharge machining (EDM) control.

リンク情報
DOI
https://doi.org/10.2493/jjspe.59.1637
CiNii Articles
http://ci.nii.ac.jp/naid/110001371201
ID情報
  • DOI : 10.2493/jjspe.59.1637
  • ISSN : 0912-0289
  • CiNii Articles ID : 110001371201
  • identifiers.cinii_nr_id : 1000070231496

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