Atsuharu Ohta

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When we control a flexible manipulator based on a dynamic model, we need to estimate the state variables with accuracy. In the case of rigid manipulators, the state variables consist of joint angles and their velocities, which are measured easily by encoders, potentiometers, tachometers, and so on. In the case of flexible manipulators, however, the state(More)
In this paper, we describe the design and development of a positioning and compensation device for a versatile micro robot. To provide microscopic operations, the versatile micro robot has developed. The robot can move in any direction in the manner of an inchworm. However many positioning errors exist because of an assembling error in the four(More)
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