JP4430841B2 - ベース上で可動ユニットを移動させるための方法及びその装置 - Google Patents

ベース上で可動ユニットを移動させるための方法及びその装置 Download PDF

Info

Publication number
JP4430841B2
JP4430841B2 JP2001271127A JP2001271127A JP4430841B2 JP 4430841 B2 JP4430841 B2 JP 4430841B2 JP 2001271127 A JP2001271127 A JP 2001271127A JP 2001271127 A JP2001271127 A JP 2001271127A JP 4430841 B2 JP4430841 B2 JP 4430841B2
Authority
JP
Japan
Prior art keywords
movable unit
base
auxiliary body
force
variables
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2001271127A
Other languages
English (en)
Japanese (ja)
Other versions
JP2002132357A (ja
Inventor
ディープ ニュヤン ヴアン
ルヴァン ジャン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Micro Controle SA
Original Assignee
Micro Controle SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Micro Controle SA filed Critical Micro Controle SA
Publication of JP2002132357A publication Critical patent/JP2002132357A/ja
Application granted granted Critical
Publication of JP4430841B2 publication Critical patent/JP4430841B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
JP2001271127A 2000-09-12 2001-09-07 ベース上で可動ユニットを移動させるための方法及びその装置 Expired - Fee Related JP4430841B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0011584 2000-09-12
FR0011584A FR2813964B1 (fr) 2000-09-12 2000-09-12 Procede et dispositif pour deplacer un mobile sur une base

Publications (2)

Publication Number Publication Date
JP2002132357A JP2002132357A (ja) 2002-05-10
JP4430841B2 true JP4430841B2 (ja) 2010-03-10

Family

ID=8854190

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2001271127A Expired - Fee Related JP4430841B2 (ja) 2000-09-12 2001-09-07 ベース上で可動ユニットを移動させるための方法及びその装置

Country Status (2)

Country Link
JP (1) JP4430841B2 (fr)
FR (1) FR2813964B1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5101472A (en) * 1990-10-04 1992-03-31 Repperger Daniel W Military robotic controller with majorizing function and nonlinear torque capability
US5594309A (en) * 1994-06-15 1997-01-14 Iowa State University Research Foundation, Inc. Robot control scheme
JPH08123507A (ja) * 1994-10-27 1996-05-17 Fujitsu Ltd ロバスト制御装置
SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning

Also Published As

Publication number Publication date
FR2813964A1 (fr) 2002-03-15
JP2002132357A (ja) 2002-05-10
FR2813964B1 (fr) 2004-10-01

Similar Documents

Publication Publication Date Title
JP2768058B2 (ja) 構造物の振動試験装置、振動試験方法及び振動応答解析装置
Martins et al. Approaches for dynamic modelling of flexible manipulator systems
Wang et al. Robust iterative learning control for vibration suppression of industrial robot manipulators
Bayo A finite‐element approach to control the end‐point motion of a single‐link flexible robot
Wang et al. Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators
Hosseinabadi et al. Modeling and active damping of structural vibrations in machine tools
JP5932578B2 (ja) 振動抑制方法、振動抑制装置および振動抑制機能を備えた産業用機械装置
Tang et al. On-orbit modal identification for vibration suppression of flexible aerospace structure using reaction wheel actuator
JP2013004037A (ja) 振動抑制方法
KR101347921B1 (ko) 서보 제어 장치
JP3081518B2 (ja) ロボットの剛性同定方法及びその装置
JP4430841B2 (ja) ベース上で可動ユニットを移動させるための方法及びその装置
Janot et al. Modeling and identification of a 3 DOF haptic interface
US6438461B1 (en) Method and device for displacing a moving body on a base mounted elastically with respect to the ground
US6996506B2 (en) Process and device for displacing a moveable unit on a base
Trevisani Feedback control of flexible four-bar linkages: a numerical and experimental investigation
JP3114358B2 (ja) 構造物の振動試験装置及び方法
Lichiardopol et al. Robust disturbance estimation for human–robotic comanipulation
JP3811639B2 (ja) 制御装置
JPH10249763A (ja) ロボットマニピュレータの制御パラメータ調整方法
EP2199880A1 (fr) Procédé et système pour évaluer la position d'une série d'éléments articulés
Kuznetcova et al. DESIGN AND SIMULATION ANALYSIS OF HAPTIC DEVICE WITH PARALLEL KINEMATIC.
JP2869281B2 (ja) モータ駆動系の制御装置
Mucchi et al. Multibody modeling and vibration testing of 3R planar manipulators: effects of flexible installation frames
Ramos et al. New online payload identification for flexible robots. Application to adaptive control

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20071127

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090818

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20091026

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20091208

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20091218

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121225

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20131225

Year of fee payment: 4

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees