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Robotic Mechanism Driven Agonistically : Collision Experiment and Control of Collision Force

Research Project

Project/Area Number 06650305
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKyushu Institute of Technology

Principal Investigator

YAMASHITA Tadashi  Kyushu Institute of Technology, Faculty of Engineering, Professor, 工学部, 教授 (50039070)

Co-Investigator(Kenkyū-buntansha) IKEUCHI Hidetaka  Kyushu Institute of Technology, Faculty of Engineering, Research Associate, 工学部, 助手 (50264130)
SAGARA Shinichi  Kyushu Institute of Technology, Faculty of Engineering, Associate Professor, 工学部, 助教授 (50235199)
KATOH Ryozo  Kyushu Institute of Technology, Faculty of Engineering, Professor, 工学部, 教授 (20148761)
Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 1995: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1994: ¥1,300,000 (Direct Cost: ¥1,300,000)
KeywordsArtificial rubber muscle / Agonistically driven joint / Collision by robot / Manipulation of flexible object / Control of space robot / Control of underwater manipulator / Adaptive control of robot / 拮抗関節 / コンプライアンス楕円
Research Abstract

The object of this project is to increase capabilities of robots by introducing new mechanisms, control methods, and concepts such as interactions with working environment so that they can find new applications. The following four subjects were studied : mechanism driven agonistically ; manipulation of flexible object ; control of space manipulator ; control of underwater manipulator.
1.Agonistically driven mechanism One link mechanism driven by a pair of pneumatic artificial muscles was studied to find relations between the air pressure of each muscle and the joint torque/stiffness : (1)The joint torque and stiffness can be independently adjusted by controlling the each air pressure ; (2)Lower stiffness of the joint reduces a collision force when the link comes contact with the environment ; (3)These characteristics were confirmed experimentally as well.
2.Manipulation of flexible object by robot Trajectory planning to deform a flexible plate grasped by a manipulator was studied to find an energy effective path. A new concept, which we named manipulative compliance ellipsoid, was introduced to define the manipulability. A load estimator was found effective in the real time control even if the elastic characteristic of the plate is unknown.
3.Control of space manipulator We studied the following : (1)Application of an adaptive control to follow a planned trajectory even after grasping an unknown object ; (2)Orientation control by using the nonholonomic characteristics of the space robot ; (3)Real time planning of trajectory. Effectiveness of proposed control methods for respective tasks was confirmed by simulation and/or experiments.
4.Control of underwater manipulator In the digital control special attentions have to be paid to the nonminimum phase characteristic and variable nonlinearity of a plant, both features are inherent in a underwater manipulator. A new design algorithm was proposed with simulation and experimental results showing validity of our method.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (29 results)

All Other

All Publications (29 results)

  • [Publications] 相良慎一: "非最小位相系に対する離散時間MRACSの一設計法と水中振子への応用" 日本機械学会論文集(C編). 60. 3322-3327 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "Path Planning of Redundant Manipulator and Determination of Its Configuration of Bending Elastic Plate Spring" Theory and Practice of Robots and Manipulators ; Proc.of ROMANSY 10. 1. 113-118 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 大川不二夫: "水中マニピュレータの適応形予測制御" 日本機械学会論文集(C編). 61. 1072-1077 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 加藤了三: "宇宙用マニピュレータのパラメータ同定と手先軌道制御" 日本機械学会論文集(C編). 61. 1974-1980 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 加藤了三: "マニピュレータによる弾性物体の変形に関する研究-エンドエフェクタの軌道計画-" 日本ロボット学会誌. 13. 157-160 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 山下忠: "拮抗駆動関節による剛性とトルクの制御:空気圧アクチュエータによる実験的検討" 日本ロボット学会誌. 13. 666-673 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Yamamoto: "Digital Adaptive Control of Manipulator Mounted on Free-Flying Robot in Space" Proc.of Ninth World Congress on the Theory of Machines and Mechanisms. 3. 2151-2155 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "A Control Method of Space Satellite by Flapping Wings" Proc.of ASIA-PACIFIC VIBRATION CONFERENCE '95. 1. 822-827 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 山本俊彦: "宇宙用マニピュレータのディジタル適応制御" 日本機械学会論文集(C編). 62. 168-174 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] S.Sagara: "A Design Method of Discrete Time MRACS for Nonminimum Phase System and Its Application to Position Control of Underwater Pendulun" Trans.JSME(Series C). Vol.60, No.578. 3322-3327 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "Path Planning of Redundant Manipulator and Determination of Its Configuration of Bending Elastic Plate Spring" Theory and Practice of Robots and Manipulators ; Proc.of ROMANSY. 10. 113-118 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] F.Ohkawa: "Adaptive-Type Predictive Control of Underwater Manipulator" Trans.JSME(Series C). Vol.61, No.583. 1072-1077 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "Parameter Identification and Control Method of Space Manipulator Mounted on Free-Flying Robot" Trans.JSME(Series C). Vol.61, No.585. 1974-1980 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "Study on Deformation of Elastic Object by Manipulator -Path Planning of Endeffector-" J.Robot Society of Japan. Vol.13, No.1. 157-160 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Yamashita: "Control of Stiffness and Torque by Antagonistically Driven Join : Experimental Study Using Air Actuated Mechanism" J.Robot Society of Japan. Vol.13, No.5. 666-673 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Yamamoto: "Digital Adaptive Control of Manipulator Mounted on Free-Flying Robot in Space" Proc.of Ninth World Congress on the Theory of Machines and Mechanisms. Vol.3. 2151-2155 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] R.Katoh: "A Control Method of Space Satellite by Flapping Wings" Proc.of ASIA-PACIFIC VIBRATION CONFERENCE'95. 822-827 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Yamamoto: "Digital Adaptive Control of Space Manipulator" Trans.JSME(Series C). Vol.62, No.593. 168-174 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 相良慎一: "非最小位相系に対する離散時間MRACSの一設計法と水中振子への応用" 日本機械学会論文集(C編). 60. 3322-3327 (1994)

    • Related Report
      1995 Annual Research Report
  • [Publications] R.Katoh: "Path Planning of Redundant Manipulator and Determination of Its Configuration of Bending Elastic Plate Spring" Theory Practice of Robots and Manipulators; Proc.of ROMANSY 10. 1. 113-118 (1994)

    • Related Report
      1995 Annual Research Report
  • [Publications] 大川不二夫: "水中マニピュレータの適応形予測制御" 日本機械学会論文集(C編). 61. 1072-1077 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 加藤了三: "宇宙用マニピュレータのパラメータ同定と手先軌道制御" 日本機械学会論文集(C編). 61. 1974-1980 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 加藤了三: "マニピュレータによる弾性物体の変形に関する研究-エンドエフェクタの軌道計画-" 日本ロボット学会誌. 13. 157-160 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 山下 忠: "拮抗駆動関節による剛性とトルクの制御:空気圧アクチュエータによる実験的検討" 日本ロボット学会誌. 13. 666-673 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] T.Yamamoto: "Digital Adaptive Control of Manipulator Mounted on Free-Flying Robot in Space" Proc.of Ninth World Congress on the Theory of Machines and Mechanisms. 3. 2151-2155 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] R.Katoh: "A Control Method of Space Satellite by Flapping Wings" Proc.of ASIA-PACIFIC VIBRATION CONFERENCE '95. 1. 822-827 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 山本俊彦: "宇宙用マニピュレータのディジタル適応制御" 日本機械学会論文集(C編). 62. 168-174 (1996)

    • Related Report
      1995 Annual Research Report
  • [Publications] 加藤了三: "マニピュレータによる弾性物体の変形に関する研究-エンドエフェクタの軌道計画-" 日本ロボット学会誌. 13. 157-160 (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 山下忠: "拮抗駆動関節による剛性とトルクの制御:空気圧アクチュエータによる実験的検討" 日本ロボット学会学術講演会予稿集. 3. 969-970 (1994)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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