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Masahiro Sekimoto,Sadao Kawamura,Tomoya Ishitsubo,ShinsukeAkizuki,Masayuki Mizuno 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper aims at generating desired feedforward torque for a specified motion by reuse of time-series to rque data acquired by the iterative learning control. The suggested method named motion-scalet rans for mation realizes a motion to an arbitrarily specified posture of a two-DOF planar robot arm on the basis of arithmetical operations of time-series to rque of only four motions. The algorism is theoretically presented, and the effectiveness is confirmed in experiments. It is shown by the experimental results that the trajectory tracking error so fangular velocities by the motion-scalet rans formationt end to be smaller than those by the computed to rque method.