多自由度可調整機構に関する研究 : 第2報, PTP最適制御時の特性

Number and dimensional syntheses of an adjustable mechanism with two timevariable inputs and one path-pattern-variable input have been presented in the former paper, by considering the working space input torques and joint forces under unit load. In this paper, the point-to-point control of a manipulator which consists of the above mechanism is studied from the viewpoints of optimizing the operating time and the energy consumption of driving source. Moreover, above manipulator is compared with the manipulator with three degrees of freedom, and the dynamic characteristics of the system are analyzed theoretically and investigated experimentally.