MOTION CONTROL OF DIRECT-DRIVE MOTOR BY A HOMOGENEOUS ER FLUID

2000 ◽  
pp. 759-766
Author(s):  
NAOYUKI TAKESUE ◽  
GUOGUANG ZHANG ◽  
JUNJI FURUSHO ◽  
MASAMICHI SAKAGUCHI
Keyword(s):  
Motion Control ◽  
Direct Drive ◽  
Drive Motor ◽  
Er Fluid

Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid

1999 ◽  
Vol 10 (9) ◽  
pp. 728-731 ◽  
Author(s):  
Naoyuki Takesue ◽  
Guoguang Zhang ◽  
Junji Furusho ◽  
Masamichi Sakaguchi
Keyword(s):  
Motion Control ◽  
Direct Drive ◽  
Drive Motor ◽  
Er Fluid

Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving

2006 ◽  
Vol 18 (5) ◽  
pp. 598-607 ◽  
Author(s):  
Tomoari Maruyama ◽  
◽  
Chunquan Xu ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Wrist Joint ◽  
High Accuracy ◽  
Human Motion ◽  
Golf Club ◽  
Direct Drive ◽  
Flexible Link ◽  
Ultra High Speed ◽  
Drive Motor

We have developed a golf robot whose swing simulates human motion. The design concept is to realize ultra-high-speed dynamic manipulation using a dexterous mechanism. The robot consists of a shoulder joint with a high-power direct-drive motor and a wrist joint with a low-power direct-drive motor. High-speed golf swings are realized by a sort of motion control, called dynamically-coupled driving which compensates for the lack of drive in the wrist joint. In this paper a new model accounting for golf club flexibility with all parameters identified in experiments was developed. Based on this, we generated and implemented trajectories for different criteria. Experimental results confirmed the high accuracy of motion control and the feasibility of golf club flexibility in ultra-high-speed manipulation.

scholarly journals Study on High Gain Feedback Control of Direct-Drive Motor. (Application of Variable Damper Using Homogeneous ER Fluid).

2000 ◽  
Vol 66 (651) ◽  
pp. 3625-3631
Author(s):  
Naoyuki TAKESUE ◽  
Ken'ichi KOYANAGI ◽  
Guoguang ZHANG ◽  
Masamichi SAKAGUCHI ◽  
Junji FURUSHO
Keyword(s):  
Feedback Control ◽  
High Gain ◽  
Direct Drive ◽  
Drive Motor ◽  
Er Fluid

Disturbance observer-based motion control of direct drive motors

1991 ◽  
Vol 6 (3) ◽  
pp. 553-559 ◽  
Author(s):  
S. Komada ◽  
M. Ishida ◽  
K. Ohnishi ◽  
T. Hori
Keyword(s):  
Motion Control ◽  
Disturbance Observer ◽  
Direct Drive
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