| Project/Area Number |
07650343
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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 |
電力工学・電気機器工学
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| Research Institution | KEIO University |
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Principal Investigator |
OHNISHI Kouhei Department of System Design Engineering, KEIO University, 理工学部, 教授 (80137984)
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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 |
¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 1996: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 1995: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Keywords | Hyper Redundancy / Multi-Degree-of-Freedom manipulator / Force Transmission Control / Interactive Impedance / Subsystem Resolution / Expansion and Contraction / Configuration Control / Muscle Model / サブシステム分野 / 超冗長性 / 干渉インピーダンス制御 / 多自由度ロボット / 仮想インピーダンス制御 |
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| Research Abstract |
In this research, a novel control strategy of hyper redundant manipulator is proposed. In particular, a simplified algorithm of the motion controller is considered. In the general industrial robot, it has six degrees-of freedom motion at least. With the progress of control technology, it is possible to realize a high ability motion in such a robot system which is applied to mass production system. In the flexible production system, however, the large number of degrees-of-freedom motion is required to accomplish the complicated task.
To address the above issue, this study develops a control strategy for redundant manipulator with a large degree-of-freedom motion. In particular, interactive impedance control is proposed to simplify the controller. The proposed controller consists of several subsystem and the dynamic force propagates along them. This means that the total motion of the manipulator is arbitrary controlled according to the propagated force. In this case, the controller of each subsystem is constructed independently of the total number of degree-of-freedom motion and its characteristics is determined by using some information from the adjoining subsystem. This is one of the remarkable points of our approach and results in a simplification of the total controller. Several simulation and experimental results are shown to confirm the feasibility of our approach.
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