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. |