1P1-46-066

                                                                      

                   !      "     #$          $        %&     '                                   $         %&#  

           


 

               ãäß;:4åæ¾¸Kf9~J¨0ç]¬vãä×D-è MKÐGNb

  ()*+,-./0123456789:;<=>?@ABfinc (φ P ) = 1 + sincφ Pm                   -CDEFG0HIJGKLJLMNOP-QRS9TUVWXYZ[\]^_-`aGNbc]TUdJGKefNghijd
klmnop0q,rstu=Wvwij]xy-z{|}~Jv
MKHI]O-G0]

vS9,-.NS-b]lmndZ\J:;I],- %& <tAVv¡¢|¢0£e;¤-¥GK¦§v¨t<©BªYvTU-«¬VWXY-^_GNb 

LN0=tA°µê-ëìí°±¸9b 

­¼  v½¾¸9¬v0:;<=>?@ABvp®¯°±4óä9bc~70=tA]ôõJãövGK0ÑÙ­:;Ip=tA0®¯°±²]³´µ,-MKf9b®¯°±t vÚÛ9u rs v×S9-º»GNb

urs = f inc (φ P )ui + f dec (φ P )u Rb(t − t i−1 )c~70¶·]¬vc¸¹¸],-º»GNb s inc m pc¸¹¸0;:ÓÔéDÚàaD789bu c -ç uc = ccr ui                     
7ÐGNb~~7 c
cr pî;:Ñ] u c J u i ]Ä]ïð7ñò~~70d

­¼ [ v½¾¸9¬v0:;Ivp=tA4¿¬bc]ÀÁ

u i i É`Ê°±ËÌJÍfδu SÎ/=tAJ]Ï7Ð¾¸9bc~70 δu ]ÑÒÓÔ,-ÕÖaD×D7ÖØG0ÑÙ t vÚÛ9=tA°±pÂÃ,]ÄÅÆ)fÇÈÇÈ~~70

b, d pc¸¹¸0®¯°±Ñ]ÜÝ)ÞßDÚàu i v¨¨9;:ÓÔ×Dp0=tA

ÜÝáâßD789bv×S9Jãä×D-ef0÷øù  úv¨¨9;:ÓÔ×Dp0ûN×DJGKü-efNb°µv×S9-º»GNbu cr = f inc (φ P )(u i + δu ){(= f inc (φ P ) u i + (u c + u i )1 − a t~~70789bc)}   a, c pc¸¹¸0ÜÝ)ÞßDÚàÜÝáâßDu i J δ u v¨¨9;:ÓÔ×Dp0 u i v. δ u v.

400

300



200
100            



0f dec (φ P ) =0100200

300400            500

sdec1+ sdec 2φ Pn         q
(φP max − φ P )~~70 sdec1 , s dec 2 p;:ÓÔéD0 q, n paD0 φ P max
pýE]TUþÿ

日本機械学会[No.99‑9]ロボティクス・メカトロニクス講演会'99講演論文集

1P1‑46‑066(1) 7];:-ÐSbLN0;:-{['99.6.11〜13,東京]uRu R = crs (umax − ui )                        u max   c  
u i ! µm ""#$%&' u R" rsu max ()*+,-./ 



01234567/89:;<=>?"&%@ABCD EFGFHIJKLMNOP@ QRS TUVW XYZ [ 6\]^ZZ _ 6XY `ab HcdeMTfg
hHijdkW lmZ n 6ABCD opq
rPZ s 6HIJKLMNtuB@ vwqrPZx 6yz"{vwrPTUVW|}~D lm
0Z [ 6lm76   `ab HcdeMTfg .TdHieMi67gM-./ gM
%-% pHIJKLMN% m/ i"HIJKLMN ¡¢6¡£¤¥ ¦§¨© uB@{ ªp0`ab HcdeMTfg«¥QRS ¬­3,
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iNÇW6È/
0Z nÉx (Êm/"IdMc "{6oË6ÌÍ¾.ÎÂABCDÏÐBÑÒ#/Z sÉx (Êm/"ÓÔÕ Ö>ÉÖ_ ÁZ x × 6ØÁ"q/"ÑÒ#/"-QRS 67Â                      !
    
"                  !
      


C on t ro l le r



D C s up p ly

#                      !

ÙÚ@Û@"ÜÂÝ¾.ÞHIJKLMNt ß
uB@àávw#/"¾/

ＰＣ
S er i al wi r e
A ct ua t or

0âã&%HIJKLMNOP@ QRS dHiNÇW
TUVWXY TUVWABCDä 67Â&%@IdMc ÍÑ6ÌÍ.
åQRS TUVW6ä m/"67ÂOP@ Û@""-Ô/"ÑÒ.TUVWÞæçoË6
æç&%HIJKLMNOP@dHiNÇW6èé ① SG tU aI ratpipnlgi c a t i o nI con

Cl ick!

Initializing application・e l e m e n t s u b d i v i s i o n・c a l c u l at i n g s t i f f n e s s m a t r i x=ê?

I n v e rs e a n a l y s i s
C a l c u l a t i n g s ti f f n e s s e q .

200 permsoutputC a l c u l a t i n g e m p ir i c a l f o r m u l a

In p u tta r g e t d i s p .

②

Calculation ofcontrol voltage 

O u tp u tc o nt r o l v o l .

        
 !"#$%&'(  )*+,-./01234561278.9:; 78<=>?@ABCDE::;FG;H G;IB=>? JKLMNO PQRSTU1VWXYZ>[\]U^Z_`ab)*+,-.<=><=>DcdFefghe fi: jDE:::FEik Eif

1P1‑46‑066(2)