| Project/Area Number |
07650292
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | MEIJI UNIVERSITY |
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Principal Investigator |
EHARA Noburo MEIJI UNIVERSITY SCHOOL OF SCIENCE & TECHNOLOGY PROFESSOR, 理工学部, 教授 (00185133)
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| Co-Investigator(Kenkyū-buntansha) |
SHIMOSAKA Haruo MEIJI UNIVERSITY SCHOOL OF SCIENCE & TECHNOLOGY PROFESSOR, 理工学部, 教授 (10139462)
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| Project Period (FY) |
1995 – 1996
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| Project Status |
Completed (Fiscal Year 1996)
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| Budget Amount *help |
¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 1996: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1995: ¥600,000 (Direct Cost: ¥600,000)
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| Keywords | DEGRADATION OF CONTROL SIGNALS / NONLINEAR DYNAMICS / MODEL REFERENCE CONTROL / ACCURACY OF TRAJECTORY CONTROL / MOTION OF HUMAN ARMS / STATIC WALKING / STABILITY OF HUMAN WALKING |
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| Research Abstract |
In this research, dynamical behavior of nonlinear mechanical system under the change of control information such as degradation or time-lag is investigated.
First, model reference tracking control of simple mass-spring-damping system is considered. Dynamic behavior of the system under the degradation of the control signal is discribed. Convergence of the system response is getting worth when the feedback signal degenerates. If the feedback signal has the time lag, the response depends on the damping coefficient of the real system. The output becomes extremely large at the case that the lag is a half of the natural period of the real system.
Then, dynamic behavior of two link robot manipulator with signal degradation or time delay is discussed. This is one of the modeling of human dynamics of upper limb. Effects of the change in the control signal is analyzed when trajectory of the arm is a circle, S-shape and crank pattern. Dynamics of the trajectory control of the arm are evaluated by using error factor of the end point and accuracy of the trajectory of the arm. An evaluating method is introduced. Simulation results show that accuracy of the trajectory control become change over 40% under 10% degradation of the control signal and over 6% even under 1% change.
Finally, dynamic behavior of human static walking with signal degradation is discussed.
The control signal is the time pattern of each joint angle. Effects of the changes of the control signals to the stability of static walking are analyzed using 10-links dynamical model.
Simulation results show that stability of static walking change drematically under small variation of control signal degradation and time delay.
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