{"title":"行星齿轮电机驱动双关节机械臂的协调控制","authors":"M. Shinohara, A. Umemura, T. Haneyoshi, Y. Saito","doi":"10.1109/IPEC.2010.5542384","DOIUrl":null,"url":null,"abstract":"The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of bi-articular muscle.","PeriodicalId":353540,"journal":{"name":"The 2010 International Power Electronics Conference - ECCE ASIA -","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Coordination control of bi-articular robotic arm by motor drive with planetary gear\",\"authors\":\"M. Shinohara, A. Umemura, T. Haneyoshi, Y. Saito\",\"doi\":\"10.1109/IPEC.2010.5542384\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of bi-articular muscle.\",\"PeriodicalId\":353540,\"journal\":{\"name\":\"The 2010 International Power Electronics Conference - ECCE ASIA -\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 2010 International Power Electronics Conference - ECCE ASIA -\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IPEC.2010.5542384\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 2010 International Power Electronics Conference - ECCE ASIA -","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IPEC.2010.5542384","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Coordination control of bi-articular robotic arm by motor drive with planetary gear
The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of bi-articular muscle.
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