しなりの効果を利用した振り上げ運動の制御 白石直幸(パナソニックモバイルコミュニケーションズ(株))

摘要

A large number of studies about a swing up control on a horizontal bar have been made, butcompliance of a horizontal bar is ignored in their studies. This paper deals with the swing up control usingcompliance, and shows that proposed control law and the way of selecting physical parameters of a horizontalbar in consideration of compliance are effective.