| Budget Amount *help |
¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000)
Fiscal Year 2017: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2016: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2015: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
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| Outline of Final Research Achievements |
Following knowledge related to bilateral control system over STDMA(Synchronous Time Division Multiple Access) switches is obtained: 1) Because dynamics of a bilateral control system depends on a stiffness of a contact object, an adaptive controller using an estimated stiffness is effective. 2) Assume that a robot has more than two active joints, then control performance depends on a coordinate system where the adaptive controller is implemented. 3) Because control performance of a feedback control system over STDMA switches depends on a switching pattern, a switching pattern should be optimized based on an objective function and a network topology.
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