| Project/Area Number |
11650243
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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 | Tokyo Institute of Technology |
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Principal Investigator |
MATSUNO Fumitoshi Tokyo Institute of Technology Associate Prof., 大学院・総合理工学研究科, 助教授 (00190489)
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| Co-Investigator(Kenkyū-buntansha) |
HARA Shinji Tokyo Institute of Technology Porf., 大学院・情報理工学研究科, 教授 (80134972)
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| Project Period (FY) |
1999 – 2000
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| Project Status |
Completed (Fiscal Year 2000)
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| Budget Amount *help |
¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 2000: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 1999: ¥2,400,000 (Direct Cost: ¥2,400,000)
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| Keywords | Geometric constraint / Flexible multi-body system / Distributed parameter model / Dynamics based control / Experimental validation / 双腕フレキシブルアーム / PDS協調制御 / 拘束条件 / 出力フィードバック制御 |
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| Research Abstract |
1.Cooperative control of two flexible manipulators
We proposed robust cooperative control law of two two-link flexible manipulators based on quasi-static equations. We also proposed PDS cooperative control law of two one-link flexible arms. To demonstrate the validity of the proposed controllers, experiments carried out. The experimental results ensure the validity of the derived model and the effectiveness of the proposed controller.
2.Passivity of flexible manipulators
We showed that the property of passivity is satisfied in case of one-link flexible manipulators based on distributed parameter model. For n-link-flexible manipulators we showed the similar result using an approximated model.
3.PDS control of a flexible space structure with a closed-loop chain mechanism
We proposed PDS controller of two interconnected flexible beams based on distributed parameter model. The effectiveness of the proposed PDS controller is supported by experimental tests that have been carried out to demonstrate robustness of the controller with respect to plant parameter variations.
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