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Analysis and Control of High Compliance Systems with Coulomb Friction

Research Project

Project/Area Number 15360222
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionUniversity of Tsukuba

Principal Investigator

AOSHIMA Nobuharu  University of Tsukuba, Gradute School of Systems and Information Engineering, Professor, 大学院・システム情報工学研究科, 教授 (60013710)

Co-Investigator(Kenkyū-buntansha) YABUNO Hiroshi  Univ.of Tsukuba, Graduate School of Systems and Information Engineering, Professor, 大学院・システム情報工学研究科, 教授 (60241791)
Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥10,700,000 (Direct Cost: ¥10,700,000)
Fiscal Year 2005: ¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 2004: ¥6,100,000 (Direct Cost: ¥6,100,000)
Fiscal Year 2003: ¥2,900,000 (Direct Cost: ¥2,900,000)
KeywordsUnderactuation / Compliance / Nonlinear / Parametric resonance / Robot / Manipulator / Flexible arm / 柔軟アーム / クーロン摩擦 / 機械システム / 分岐現象 / 高コンプライアンス / 運動制御
Research Abstract

First, we show the effects of slight Coulomb friction on a simply supported beam under compressive force, which is a high compliance system. The governing equation, which is a nonlinear partial differential equation, is deduced. By the method of multiple scales, the system is analyzed. As a result it is clarified that very low stiffness and Coulomb friction produces infinite number of stable equilibrium states. The phenomena are identified by bifurcation theory. And the validity of the theoretical result is experimentally confirmed. The high- frequency excitation destabilizes these stable equilibrium points and stabilizes the buckled beam to the straight position. Also, experimental identification method for Coulomb friction is proposed. Furthermore, we propose a motion control of an underactuated manipulator, which is high compliance system. The high frequency excitation produces variety of stable equilibrium states. The change of the excitation direction perturbs the bifurcation phenomena and carries out the position control of the under actuated link without state feedback control. Experimental apparatus of the underactuated manipulator is constructed. The validity of the proposed control method is experimentally confirmed. Furthermore, we consider the case when the underactuated link is flexible. The equation of motion is partial differential equation. Under high-frequency excitation of the active link, the dynamics of the underactuated link is analyzed by introducing multiple time scales. Also, in this case, experiments are conducted and the motion control of flexible underactuated manipulator is experimentally confirmed. Finally, we consider the application of the high compliance system for grip. The grip does not give impact objects because the joint of the grip is freely rotated. This system uses high frequency excitation and carries out motion control.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (14 results)

All 2005 2004 Other

All Journal Article (14 results)

  • [Journal Article] Reachable and Stabilizable Area of an Underactuated Manipulator Without State Feedback Control2005

    • Author(s)
      H.Yabuno, T.Matsuda, N.Aoshima
    • Journal Title

      IEEE/ASME Transaction on Mechatronics 10

      Pages: 397-403

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Reachable and Stabilizable Area of an Underactuated Manipulator Without State Feedback Control2005

    • Author(s)
      H.Yabuno, T.Matsuda, N.Aoshima
    • Journal Title

      IEEE/ASME Transaction on Mechatronics Vol.10

      Pages: 397-403

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Reachable and Stabilizable Area of an Underactuated Manipulator without State Feedback Control2005

    • Author(s)
      H.YABUNO, T.Matsuda, N.AOSHIMA
    • Journal Title

      IEEE/ASME Trans, on Mechatronics 10・4

      Pages: 397-403

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Suppression of paranetric Resonance in Cantilever Beam with a Pendulum2004

    • Author(s)
      YABUNO, H., Murakami T., Kawazoe, J., Aoshima N.
    • Journal Title

      Journal of Vibration and Acoustics 126

      Pages: 149-162

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Swing-Up and Stabilization of an Underactuated Manipula for without State Feedback of Free Joint2004

    • Author(s)
      YaBUNO, H, GOTO, K, AOSHIMA N
    • Journal Title

      IEEE Trans, on Roboticc and Automation 20

      Pages: 359-365

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Bifurcation in an Inuerted Pendulum with Tilted High-Frequency Excitation2004

    • Author(s)
      YABUNO, H, MIURA, M, AOSHIMA N
    • Journal Title

      Journal of Sound and Vibration 273

      Pages: 493-513

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Suppression of Parametric Resonance in Cantilever Beam with a Pendulum2004

    • Author(s)
      H.Yabuno, T.Murakami, J.Kawazoe, N.Aoshima
    • Journal Title

      Journal of Vibration and Acoustics Vol.126

      Pages: 149-162

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Swing-Up and Stabilization of an Underactuated Manipulator without State Feedback of Free Joint2004

    • Author(s)
      H.Yabuno, K.Goto, N.Aoshima
    • Journal Title

      IEEE Trans.on Robotics and Mechatronics Vol.20

      Pages: 259-365

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Bifurcation in an Inverted Pendulum with Tilted High-Frequency Excitation2004

    • Author(s)
      H.Yabuno, M.Miura, N.Aoshima
    • Journal Title

      Journal of Sound and Vibration Vol.273

      Pages: 493-513

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Suppression of Parametric Resonance in Cantilever Beam with a Pendulum2004

    • Author(s)
      YABUNO, H., Murakami, T, Kawazoe, J., AOSHIMA, N
    • Journal Title

      Journal of Vibration and Acoustics 126

      Pages: 149-162

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Swing-Up and Stabilization of an Undevactuated Manipulator without State Feed back of Free Joint2004

    • Author(s)
      YABUNO, H., GOTO, K, AOSHIMA, N.
    • Journal Title

      IEEE Trans.on Robotics and Automation 20

      Pages: 359-365

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Bifurcation in an Inverted Pendulum with Tilted High-Frequency Excitation2004

    • Author(s)
      YABUNO, H., MIURA, M, AOSHIMA, N.
    • Journal Title

      Journal of Sound and Vibration 273

      Pages: 493-513

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Stabilization control and motion control for some mechanical systems by using bifurcation control

    • Author(s)
      H.Yabuno
    • Journal Title

      Nonlinear Science 63(印刷中)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Stabilization control and motion control for some mechanical systems by using bifurcation control

    • Author(s)
      H.Yabuno
    • Journal Title

      Nonlinear Science Vol.63(in press)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary

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Published: 2003-04-01   Modified: 2016-04-21  

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