| 発表年月日 | 2011/05/27 |
|---|---|
| 発表テーマ | 2ステージアクチュエータを用いた広帯域バイラテラル制御 ―2ステージアクチュエータ単体性能の実験検証― |
| 会議名 | 日本機械学会 ロボティクス・メカトロニクス講演会2011 |
| 開催地名 | 岡山 |
| 学会区分 | 全国学会 |
| 発表形式 | ポスター |
| 発表者・共同発表者 | ◎国立彩織，井筒正義，釜道紀浩，石川潤 |
| 概要 | This article proposes a two stage actuator system that consists of a coarse actuator driven by a ball screw and a fine actuator driven by a voice coil motor and a bilateral control system using the proposed actuator system. A prototype of the two stage actuator has been developed and basic performance was evaluated by experiment. The experimental results showed that a mechanical impedance with a mass of 10 g and damping of 1.6 N/(m/s) was successfully implemented. |