| Project/Area Number |
15K05861
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Aichi Institute of Technology (2016-2017)
Nagoya University (2015) |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
|
| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2015: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 最適制御 / 多点境界値問題 / ロボット制御 / 多点境界問題 |
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| Outline of Final Research Achievements |
In order for robots to be active in the ordinary life of human beings, such as welfare, nursing care and family life, robots must recognize the external environment in real time to do safe operation that is adapted to the changing environment every moment. Such a control problem of the robot is formulated as an optimal control multi-boundary values problem, where it is required to control nonlinear dynamic plants to achieve a plurality of target positions, attitudes, and velocities at specified times, respectively,
In this study, we developed a real - time solution of optimal control multi-boundary values problem of nonlinear system and applied its solution to advanced function motion control of manipulator to confirm its effectiveness.
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