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Modelng and Controller Design for Teleoperation of Master-Slowe Flexible Arms

Research Project

Project/Area Number 09650266
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionTOKYO INSTITUTE OF TECHNOLOGY

Principal Investigator

MATSUNO Fumitoshi  Tokyo Institute of Technology, Interlisciplinary Graduate School of Science & Engineering Associate Professor, 大学院・総合理工学研究科, 助教授 (00190489)

Co-Investigator(Kenkyū-buntansha) HARA Shinji  Tokyo Institute of Technology, Interlisciplinary Graduate School of Science & En, 大学院・総合理工学研究科, 教授 (80134972)
Project Period (FY) 1997 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 1998: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1997: ¥2,600,000 (Direct Cost: ¥2,600,000)
KeywordsFlexible arm / Distributed parameter model / PDS control / Lyapunou method / Inrariamce prmciple / Differemtiol operator analysis / 偏微作用素解析
Research Abstract

I.Theoretical results
1. PDS Feedback Control Law
We proposed PDS controller, being the proportional, derivative and strain feedback, on the basis of distributed parameter model of flexible arms and structures. We introduce a Lyapunov function related to the total energy of the distributed parameter system and derive a simple output feedback control law of PDS controller. Using the Lyapunov method and the invariance principle the asymptotic stability of the closed-loop distributed parameter system is proven, As the PDS controller is a static feedback controller using the joint angle(P), the angular velocity (D) and the strain (S) data, this controller admits simple implementation.
2. Robust .Force Control
We proposed robust force control law for constrained flexible arms and robust cooperative control law for multiple flexible arms on the basis of distributed parameter model.
II.Experimental results
1. PDS Feedback Control
1. Flexible structures with lumped and distributed flexibility
2. Flexible structures with closed-loop mechanism
2. Robust Force Control
1. Constrained flexible arms
2. Cooperative two two-link flexible arms

Report

(3 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • Research Products

    (20 results)

All Other

All Publications (20 results)

  • [Publications] 松野・神澤: "曲げ・ねじり変形を考慮したアームに対するカフィードバックの安定解析とロバスト力制御" 日本ロボット学会誌. 15・5. 789-794 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] F.Matsuno: "Optimal Path Planning for Flexible Plate Handling using an n-Link Manipulator" J.Robotics and Mechatronics. 10・3. 178-183 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] F.Matsuno and M.Kisoi: "Task Understanding for the Beam-in Hole Task with Initial One-Porut Contact" J.Robotics and Mechatronics. 10・3. 203-208 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] F.Matsuno and S.kasai: "Modeling and Robust Force Contrl of Constraited One-Link Flexible Arms" J.Robotic Systems. 15・8. 447-464 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 松野・大野・田中: "集中的および分布的柔軟性をもった大型宇宙構造物の分布定数制御(バネ結合した2本の柔軟ビームの場合)" 計測自動制御学会論文誌. 34・12. 1889-1896 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 松野 文俊: "機械システムのタスクディレクティドモデリング" システム/制御/情報. 42・9. 477-486 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] F.Matsuno and M.Hatayama: "Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations" Int.J.Robotics Research. 17・4 to appear. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 松野・平嶋: "剛結合した2本のビームのモデリングとロバスト制御" 計測自動制御学会論文誌. 34・7. 783-788 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] F.Matsuno: "Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator" J.Robotics and Mechatronics. 10・3. 178-183 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] F.Matsuno and M.Kisoi: "Task Understanding for the Beam-in-Hole Task with Initial One-Point Contact" J.Robotics and Mechatronics. 10・3. 203-208 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] F.Matsuno and S.Kasai: "Modeling and Robust Force Control of Constrained One-Link Flexible Arms" J.Robotic Systems. 15・8. 447-464 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 松野・大野・田中: "集中的および分布的柔軟性をもった大型宇宙構造物の分布定数制御(バネ結合した2本の柔軟ビームの場合)" 計測自動制御学会論文誌. 34・12. 1889-1896 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 松野 文俊: "機械システムのタスクディレクティドモデリング" システム/制御/情報. 42・9. 477-486 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] F.Matsuno and M.Hatayama: "Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-static Equations" Int.J.Robotics Research. 17・4(to appear). (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 松野 文俊: "曲げ・ねじり変形を考慮したアームに対するカフィードバックの安定解析とロバスト力制御" 日本ロボット学会誌. 15・5. 789-794 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 松野 文俊: "フレキシブル・アームの曲げ・ねじり結合振動と力のロバスト制御" 計測自動制御学会論文誌. 33・7. 674-679 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Fumitoshi Matsuno: "Experimental Study on Robust Force Control of a Flexible Arm with a Symmetric Rigid Tip Body" Proc.IEEE Int.Conf.on Robotics and Automation. (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Fumitoshi Matsuno: "Optimal Puth Planning of Two Manipulator of a Space Robot with Considering Obstacles" Proc.2nd Asian Control Conference. 445-448 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Fumitoshi Matsuno: "Stability Analysis of Force Feedback and Force Control of a Constramed Arm with a Symmetric Rigid Body Considering Bending and Torsional Flexibility" Proc.IFAC Sympo.on Robot Control. 505-510 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Fumitoshi Matsuno: "Distributed Parameter Control of Large Space Structures with Lumped and Distributed Flexibility (A Case Study of Two Flexible Beams Connected by a Spring)" Proc.IEEE Int.Conf.on Decision and Control. (1997)

    • Related Report
      1997 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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