Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette

机译：欠驱动电线驱动机构的运动控制-平面木偶的动静力学分析

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This paper describes kinetostatics analyses of planar marionettes as underactuated wire–driven mechanisms.A configuration of a serial link chain which both ends are hung by wires are solved by minimizing potential energy of the link chain.The configurations of controller to give the specified configuration of the link chain are then obtained based on inverse statics calculation of the link chain.These methods are then applied to realize specified configuration of a human type marionette.

机译：本文将平面木偶的运动静力学分析描述为欠驱动的电线驱动机理。通过最大限度地减小链的势能，解决了两端都被电线悬挂的串联链的配置。然后根据链接链的逆静态计算获得链接链，然后将这些方法应用于实现人形木偶的指定配置。

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来源
《International conference on mechatronics technology》|2012年|443-448|共6页
会议地点 Tianjin(CN)
作者
Nobuyuki Iwatsuki; Naoki Itabashi;
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作者单位

Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo, Japan;

Graduate Student, Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo, Japan;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
Marionette; Wire-driven mechanism; underactuated mechanism; kinetostatics analysis;

机译：木偶；钢丝绳驱动机构；欠驱动机构；运动静力学分析;

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3. STABILITY ANALYSIS AND ROBUST CONTROL OF A PLANAR UNDERACTUATED BIPED ROBOT [J] . REZA DEHGHANI, ABBAS FATTAH International journal of humanoid robotics . 2010,第4期

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4. Dynamic Analysis and Motion Control of an Underactuated Unmanned Surface Vehicle (WL-II) [J] . Wu Ying, Yang Shengqiang, Li Wenhui, Marine Technology Society journal . 2017,第6期

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5. Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette [C] . Nobuyuki Iwatsuki, Naoki Itabashi International conference on mechatronics technology . 2012

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Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette

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