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目次情報: 続きを見る

Series Foreword

Preface

Introduction / 1：

Direct Drive Arms / 2：

Kinematic Calibration / 3：

Estimation of Load Inertial Parameters / 4：

Estimation of Link Intertial Parameters / 5：

Feedforward and Computed Torque Control / 6：

Model-Based Robot Learning / 7：

Dynamic Stability Issues in Force Control / 8：

Kinematic Stability Issues in Force Control / 9：

Conclusion / 10：

Appendices

References

Index

Series Foreword

Preface

Introduction / 1：

目次情報: 続きを見る

Preface

Direct-Drive Technologies / I：

Introduction / 1：

Drive Systems / 2：

Arm Design Theory / II：

Statics / 3：

Arm Design for Simplified Dynamics / 4：

Actuator Relocation / 5：

Design of Decoupled Arm Structures / 6：

Design Application - M.I.T. Direct-Drive Manipulators / III：

Mechanisms / 7：

Control Systems / 8：

Supporting Articles / IV：

Control of a Direct-Drive Arm / 9：

A Linkage Design for Direct-Drive Robot Arms / 10：

Design of Joint Torque Sensors and Torque Feedback Control for Direct-Drive Arms / 11：

Appendices / V：

Flow Correction in Current Reading / A：

Torque Control Calibration and Software / B：

Single Joint Drive Controller / C：

The Jacobian Matrix / D：

References

Index

Preface

Direct-Drive Technologies / I：

Introduction / 1：