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This paper describes a robot with a structure that imitates that of humans. For a robot that functions in humanspsila daily life, it is important to consider imitating humans in the characteristics of structure and human safety. The robot with a wrist joint that comprises a spherical joint is developed considering structural features of a humanpsilas wrist joint. Furthermore, this robot is actuated...
A control system design for two-inertia resonant systems that takes account of shaft torsion is proposed. On the basis of elementary knowledge of material mechanics and the ASME code, we derive an inequality condition for avoiding metal fatigue of a shaft. To satisfy the derived condition as well as other design specifications, a feedback controller is designed using the LMI-based H2 synthesis on...
A control system design for two-inertia resonant systems that takes account of shaft torsion is proposed. On the basis of elementary knowledge of material mechanics, we derive an inequality condition for avoiding metal fatigue of a shaft. To satisfy the derived condition as well as other constraints, the critical control method is employed to design a feedback controller. The disturbance observer...
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