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Title: Trajectory control of manipulator fed by power packets
Authors: Mochiyama, Shiu
Takahashi, Ryo
Hikihara, Takashi  kyouindb  KAKEN_id  orcid https://orcid.org/0000-0002-0029-4358 (unconfirmed)
Author's alias: 持山, 志宇
高橋, 亮
引原, 隆士
Keywords: power packet
power router
manipulator
trajectory control
Issue Date: Jun-2017
Publisher: John Wiley and Sons Ltd
Journal title: International Journal of Circuit Theory and Applications
Volume: 45
Issue: 6
Start page: 832
End page: 842
Abstract: The conventional power supply is based on a continuous flow of electricity. Electrically driven independent systems face the limitations of flexibility and efficiency of power management in a network consisting of power sources, converters, and loads. The power packet dispatching system, where electricity is transferred in a discretized form with information, is expected to remove the limitations. The system realizes a dynamic arrangement of power-line connection between power sources and loads. In this paper, we focus on its application to a manipulator. This is an example of electro-mechanical actuation in independent systems. We verify the trajectory control of the manipulator fed by power packets numerically and experimentally. The results indicate that power packets as a discretized transfer of electricity can be applied to the electro-mechanical actuation.
Rights: This is the accepted version of the following article: [Mochiyama, S., Takahashi, R., and Hikihara, T. (2017) Trajectory control of manipulator fed by power packets. Int. J. Circ. Theor. Appl., 45: 832–842], which has been published in final form at https://doi.org/10.1002/cta.2275. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Self-Archiving.
The full-text file will be made open to the public on 15 JUN 2018 in accordance with publisher's 'Terms and Conditions for Self-Archiving'.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/226265
DOI(Published Version): 10.1002/cta.2275
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