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High Backdrivable Arm Robot for Human Cooperation

Research Project

Project/Area Number 18K13741
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 21010:Power engineering-related
Research InstitutionNagaoka University of Technology

Principal Investigator

Yokokura Yuki  長岡技術科学大学, 工学研究科, 准教授 (70622364)

Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2020: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2019: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywordsモーションコントロール / モータドライブ / ロボティクス / 協働ロボット / バックドライバビリティ / 逆駆動性 / 力制御 / 2慣性共振系 / 加速度制御 / パワーエレクトロニクス / バックドラバビリティ / 電流制御
Outline of Final Research Achievements

In recent years, various types of robots have been widely used in many kinds of fields. However, robots have not yet worked with humans in living spaces. The reason for this is that the back drivability of robots is very low, and accidents that injure humans have actually occurred. High-back drivability means that a robot can be easily moved from the outside. Three major factors that reduce the back drivability of current robots are friction between the speed reducer and oil seal, suppression control of resonant vibration, and driven by slow force control. In this study, we aim to solve these three problems by integrating advanced motion control technology and state-of-the-art power electronics to realize a high back drivability arm robot that can collaborate with humans.

Academic Significance and Societal Importance of the Research Achievements

普段,自宅や職場において身の回りを見渡してみても,様々な軽作業や重労働を肩代わりくれる本格的な人間支援ロボットは未だに見当たらない。近年になり,人間のそばで活動できるロボットの利用が急拡大しているといわれるものの,今のところ広く普及しているのは,ただ立って喋っているか移動するだけのロボットばかりである。そこで,実用的な産業用ロボットに高い逆駆動性を持たせ,従来必須であった安全柵を取り払い,従来には無かった人間に真に役立つ本格的な多関節アームロボットを実現することで,将来的に極めて厳しい少子高齢化社会を迎える日本に不可欠である「人間とロボットが協働できるような社会」を築く。本研究はその礎となる。

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (88 results)

All 2021 2020 2019 2018 Other

All Journal Article (20 results) (of which Peer Reviewed: 20 results,  Open Access: 11 results) Presentation (66 results) (of which Int'l Joint Research: 33 results) Remarks (2 results)

  • [Journal Article] Vibration Suppression Control Using Resonance Frequency Damping Disturbance Observer for Robot Servo System2021

    • Author(s)
      Yabuki Akinori、Ohishi Kiyoshi、Miyazaki Toshimasa、Yokokura Yuki、Kanmachi Toshiyuki、Ando Itaru
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 10 Issue: 1 Pages: 36-44

    • DOI

      10.1541/ieejjia.20003474

    • NAID

      130007965612

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2021-01-01
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] High-Robust Force Control for Environmental Stiffness Variation Based on Duality of Two-Inertia System2021

    • Author(s)
      Kawai Yusuke、Yokokura Yuki、Ohishi Kiyoshi、Miyazaki Toshimasa
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 68 Issue: 1 Pages: 850-860

    • DOI

      10.1109/tie.2020.3009591

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robust Estimation Method for Stator Temperature Based on Voltage Disturbance Observer Autotuning Resistance for SPMSM2020

    • Author(s)
      Iwata Hiroki、Ohishi Kiyoshi、Yokokura Yuki、Okada Yuji、Ide Yuji、Kuraishi Daigo、Takahashi Akihiko
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 9 Issue: 4 Pages: 341-350

    • DOI

      10.1541/ieejjia.9.341

    • NAID

      130007868283

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2020-07-01
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor2020

    • Author(s)
      Padron Juan、Ohishi Kiyoshi、Yokokura Yuki、Miyazaki Toshimasa
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 9 Issue: 2 Pages: 168-176

    • DOI

      10.1541/ieejjia.9.168

    • NAID

      130007804803

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2020-03-01
    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Equivalent Resonance Ratio Control in Two-Spring System for Stable Contact Motion in Industrial Robots2020

    • Author(s)
      Kawai Yusuke、Yokokura Yuki、Ohishi Kiyoshi、Miyazaki Toshimasa
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 9 Issue: 1 Pages: 51-60

    • DOI

      10.1541/ieejjia.9.51

    • NAID

      130007779408

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2020-01-01
    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Harmonic Current Reduction Control Based on Model Predictive Direct Current Control of IPMSM and Input Grid Circuit2020

    • Author(s)
      Araki Yushi、Abe Kodai、Ohishi Kiyoshi、Yokokura Yuki、Sano Junichi、Kobayashi Koji、Kashihara Tatsuki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 9 Issue: 1 Pages: 17-26

    • DOI

      10.1541/ieejjia.9.17

    • NAID

      130007779411

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2020-01-01
    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Quick Force Balance Control Based on Equilibrium Point Movement of Tie-bar Temperature Controllers for Injection Molding Machine2020

    • Author(s)
      Matsui Yuki、Yokokura Yuki、Ohishi Kiyoshi、Hotta Daigo、Morita Hiroshi
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 9 Issue: 5 Pages: 597-604

    • DOI

      10.1541/ieejjia.9.597

    • NAID

      130007895440

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Fine Sensorless Force Control Realization Based on Dither Periodic Component Elimination Kalman Filter and Wide Band Disturbance Observer2020

    • Author(s)
      Tran Phuong Thao, Kiyoshi Ohishi, Yuki Yokokura
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 67 Issue: 1 Pages: 757-767

    • DOI

      10.1109/tie.2018.2883256

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Fine Load-Side Acceleration Control Based on Torsion Torque Sensing of Two-Inertia System2020

    • Author(s)
      Yuki Yokokura, Kiyoshi Ohishi
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 67 Issue: 1 Pages: 768-777

    • DOI

      10.1109/tie.2018.2881944

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Time-Variant Haptic Simulator Based on Fine and Fast Real-Time Discretization Using FDTD Method2019

    • Author(s)
      Muto Hirotaka、Yokokura Yuki、Ohishi Kiyoshi
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 6 Pages: 926-933

    • DOI

      10.1541/ieejjia.8.926

    • NAID

      130007740904

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-11-01
    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Quick Reaction Force Control for Three-Inertia Resonant System2019

    • Author(s)
      Yabuki Akinori、Ohishi Kiyoshi、Miyazaki Toshimasa、Yokokura Yuki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 6 Pages: 941-952

    • DOI

      10.1541/ieejjia.8.941

    • NAID

      130007740915

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-11-01
    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Predictive Direct DC-link Current Control of IPMSM Drive System Using Electrolytic Capacitorless Inverter for Fine Harmonics Suppression2019

    • Author(s)
      3)Yousuke Akama, Kodai Abe, Yushi Araki, Kiyoshi Ohishi, Yuki Yokokura
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 3 Pages: 394-403

    • DOI

      10.1541/ieejjia.8.394

    • NAID

      130007641632

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-05-01
    • Related Report
      2019 Research-status Report 2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Source Current Harmonics and Motor Copper Loss Reduction Control of Electrolytic Capacitor-less Inverter for IPMSM Drive2019

    • Author(s)
      4)Kodai Abe, Hitoshi Haga, Kiyoshi Ohishi, Yuki Yokokura, Haruya Kada
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 3 Pages: 404-412

    • DOI

      10.1541/ieejjia.8.404

    • NAID

      130007641633

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-05-01
    • Related Report
      2019 Research-status Report 2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Backlash-based Shock Isolation Control for Jerk Reduction in Clutch Engagement2019

    • Author(s)
      Akira Yamaguchi, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki, Kotaro Sasazaki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 2 Pages: 160-169

    • DOI

      10.1541/ieejjia.8.160

    • NAID

      130007606871

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-03-01
    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Smooth Human Interaction Control using Torsion Torque Controller and Motor-side Normalization Compensator Focusing on Back-forward Drivability2019

    • Author(s)
      Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 8 Issue: 2 Pages: 322-333

    • DOI

      10.1541/ieejjia.8.322

    • NAID

      130007606235

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2019-03-01
    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Fine Sensorless Force Control Realization Based on Dither Periodic Component Elimination Kalman Filter and Wide Band Disturbance Observer2019

    • Author(s)
      Tran Phuong Thao, Kiyoshi Ohishi, Yuki Yokokura
    • Journal Title

      IEEE Transactions on Industrial Electronics (Early Access)

      Volume: PP Pages: 1-1

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Fast Torque Response and Reduced Pulse Width Modulation Switching Frequency Based on Model Predictive Direct Torque Control and Selective Harmonic Elimination2018

    • Author(s)
      Tenjiro Hiwatari, Kiyoshi Ohishi, Yuki Yokokura, Haruya Kada, Sota Sano, Akira Satake
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 7 Issue: 5 Pages: 431-440

    • DOI

      10.1541/ieejjia.7.431

    • NAID

      130007480174

    • ISSN
      2187-1094, 2187-1108
    • Year and Date
      2018-09-01
    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Construction Method of Broadband High-order Reaction Force Observer for the Reproduction of the Expert Skills2018

    • Author(s)
      中條 あかね、漆原 史朗、大石 潔、横倉 勇希
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 138 Issue: 5 Pages: 591-592

    • DOI

      10.1541/ieejeiss.138.591

    • NAID

      130006730625

    • ISSN
      0385-4221, 1348-8155
    • Year and Date
      2018-05-01
    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Direct DC-Link Current Control Considering Voltage Saturation for Realization of Sinusoidal Source Current Waveform Without Passive Components for IPMSM Drives2018

    • Author(s)
      K. Abe, H. Haga, K. Ohishi, Y. Yokokura
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 65 Issue: 5 Pages: 3805-3814

    • DOI

      10.1109/tie.2017.2760289

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Fine Load-Side Acceleration Control Based on Torsion Torque Sensing of Two-Inertia System2018

    • Author(s)
      Yuki Yokokura, Kiyoshi Ohishi
    • Journal Title

      IEEE Transactions on Industrial Electronics (Early Access)

      Volume: PP Pages: 1-1

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Presentation] Quick Torsion Torque Control Based on Model Error Compensator and Disturbance Observer with Torsion Torque Sensor2021

    • Author(s)
      Yusuke Kawai, Sora Nagao, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      IEEE/SICE International Symposium on System Integration, SII2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Wideband Backforward-Drivability Motor Drive Based on Fast Current Control of Geared SPMSM2021

    • Author(s)
      Yuki Yokokura, Kiyoshi Ohishi
    • Organizer
      The IEEE International Conference on Mechatronics ICM2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Position Control Based on Robust Load-side Acceleration Control Using Instantaneous State Onserver2021

    • Author(s)
      Taiga Shinozaki, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] High Efficient Motor Drive System by Voltage-Integral-based Reference Tracking Modulation with Voltage Prediction2021

    • Author(s)
      Yuto Kobayashi, Kiyoshi Ohishi, Yuki Yokokura, Tenjiro Hiwatari, Sota Sano, Akira Satake
    • Organizer
      The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Deep Learning Based Singular Spectrum Analysis for Realization of Wideband Force Sensing2021

    • Author(s)
      Thao Tran Phuong, Kiyoshi Ohishi, Yuki Yokokura
    • Organizer
      The IEEE International Conference on Mechatronics ICM2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Stable Torsion Torque Control for Two-Inertia Systems with Backlash Based on Duality of Nonlinear Friction and Backlash2021

    • Author(s)
      Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] クラッチを有する二慣性系の非線形モデル予測制御に基づくねじれトルク制御法2021

    • Author(s)
      井脇 隆議, 滝 智洋, 大石 潔, 横倉 勇希, 川合 勇輔
    • Organizer
      電気学会 半導体電力変換モータドライブ合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 誘導電動機の位置センサレス駆動システムのための電解コンデンサレスインバータの電源電流高調波抑制制御 ー第二報ー2021

    • Author(s)
      品川 大成, 大石 潔, 阿部 晃大, 横倉 勇希, 井上 達貴
    • Organizer
      電気学会 半導体電力変換モータドライブ合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] スイッチング損失低減のためのLUTに基づく直接仮想磁束制御2021

    • Author(s)
      小林 勇斗, 大石 潔, 横倉 勇希, 樋渡 天次郎, 佐野 壮太, 佐竹 彰
    • Organizer
      電気学会 半導体電力変換モータドライブ合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Fine Torsion Torque Control for Geared Motors by a State-Reference-Dependent Variable-Order Friction Observer2020

    • Author(s)
      Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      The 29th IEEE International Symposium on Industrial Electronics ISIE2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Enhancement of Performance on Sensor-less Force Sensation Using Singular Spectrum Analysis Based Force Observers2020

    • Author(s)
      Thao Tran Phuong, Kiyoshi Ohishi, Yuki Yokokura
    • Organizer
      IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Switching Controller-less Approach and Contact Controls Based on Force Impulse Regulator2020

    • Author(s)
      Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Harmonics Reduction Control of Source Current of Electrolytic Capacitorless Inverter for Position-Sensorless Drive System of Induction Motors2020

    • Author(s)
      Taisei Shinagawa, Kiyoshi Ohishi, Kodai Abe, Yuki Yokokura, Tatsuki Inoue
    • Organizer
      The 23rd International Conference on Electrical Machines and Systems ICEMS2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ドリフトフリー瞬時状態オブザーバを用いた2 慣性系の高精度力制御2020

    • Author(s)
      篠﨑 泰雅, 川合 勇輔, 横倉 勇希, 大石 潔, 宮﨑 敏昌
    • Organizer
      電気学会 産業計測制御/メカトロニクス制御合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 動力学補償計算に基づく状態オブザーバによるロボットモーション制御2020

    • Author(s)
      溝 大貴, 大石 潔, 宮崎 敏昌, 横倉 勇希, 矢吹 明紀
    • Organizer
      電気学会 産業計測制御/メカトロニクス制御合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 慣性モーメントのリアルタイム代入FDTD動力学補償器を用いた産業用ロボットの位置制御法の提案2020

    • Author(s)
      溝 大貴, 大石 潔, 宮崎 敏昌, 横倉 勇希, 矢吹 明紀
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] A switched torsion disturbance observer for improving the performance of torsion torque control in a two inertia system with backlash2020

    • Author(s)
      Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      電気学会 産業計測制御/メカトロニクス制御合同研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 動力学外乱トルク入力型FDTDオブザーバを用いたロボット関節の状態推定2020

    • Author(s)
      溝 大貴, 大石 潔, 宮崎 敏昌, 横倉 勇希, 矢吹 明紀
    • Organizer
      令和2年電気学会東京支部新潟支所研究発表会
    • Related Report
      2020 Annual Research Report
  • [Presentation] クラッチを有する二慣性系サーボシステムのための特性評価2020

    • Author(s)
      井脇 隆議, 大石 潔, 横倉 勇希, 滝 智洋
    • Organizer
      令和2年電気学会東京支部新潟支所研究発表会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 動力学外乱トルク入力型FDTDオブザーバを用いた産業用ロボットの位置制御2020

    • Author(s)
      溝 大貴, 大石 潔, 宮崎 敏昌, 横倉 勇希, 矢吹 明紀
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] クラッチを有する二慣性系の非線形モデル予測制御に基づく駆動力制御法2020

    • Author(s)
      井脇 隆議, 滝 智洋, 大石 潔, 横倉 勇希, 川合 勇輔, 山口 晃, 波多野 崇
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] クラッチを有する二慣性共振系の制約条件付きモデル予測制御に基づくハイブリッド自動車のスムーズな加速制御法2020

    • Author(s)
      滝 智洋, 井脇 隆議, 大石 潔, 横倉 勇希, 山口 晃, 波多野 崇
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Applications of Singular Spectrum Analysis based Force-Sensor-Less Observer in Motion Control2020

    • Author(s)
      Thao Tran Phuong、Kiyoshi Ohishi、Yuki Yokokura
    • Organizer
      The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] An Error-Based Variable-Order Disturbance Observer for Force Control in a Geared Motor Affected by Nonlinear Friction2020

    • Author(s)
      Juan Padron、Kiyoshi Ohishi、Yuki Yokokura、Toshimasa Miyazaki
    • Organizer
      The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Automatic Force Balance Control for Mold Clamping Device in Injection Molding Machine2020

    • Author(s)
      Yuki Matsui、Yuki Yokokura、Kiyoshi Ohishi
    • Organizer
      The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Suppression of quick torsion torque response by model predictive control using extended state observer2020

    • Author(s)
      Takanori Iwaki、Kiyoshi Ohishi、Yuki Yokokura、Toshimasa Miyazaki
    • Organizer
      The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Wide Bandwidth Load-side Acceleration Control for Robust Force Control in Two-inertia System2020

    • Author(s)
      Shunsuke Suzuki、Yusuke Kawai、Yuki Yokokura、Kiyoshi Ohishi、Tosimasa Miyazaki
    • Organizer
      The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Stator Temperature Estimation Considering Model Missmatching for AC Speed Servo System Without Temperature Sensor2019

    • Author(s)
      Hiroki Iwata、Yuji Okada、Kiyoshi Ohishi、Yuki Yokokura
    • Organizer
      The 10th International Conference on Power Electronics 2019-ECCE Asia
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Realization of Resonance Ratio Control Focusing on Duality of Torque and Velocity for Two-Inertia System with Environment2019

    • Author(s)
      Yusuke Kawai、Yuki Yokokura、Kiyoshi Ohishi、Toshimasa Miyazaki
    • Organizer
      The 28th IEEE International Symposium on Industrial Electronics
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] High Speed Force Balance Control of Injection Molding Machine Using Equilibrium Point Movement2019

    • Author(s)
      Yuki Matsui、Kiyoshi Ohishi、Yuki Yokokura、Hiroshi Morita、Daigo Hotta
    • Organizer
      2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2019
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Wideband Load-Side Acceleration Control Based on Load-Side Acceleration Sensing of Two-Inertia System2019

    • Author(s)
      Shunsuke Suzuki、Yuki Yokokura、Yusuke Kawai、Kiyoshi Ohishi、Toshimasa Miyazaki
    • Organizer
      The 45th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Suppression of Stick-Slip in an Oil-Seal-Mounted Geared Motor for Forward-Drivability Improvement2019

    • Author(s)
      Juan Padron、Yuki Yokokura、Yusuke Kawai、Kiyoshi Ohishi、Toshimasa Miyazaki
    • Organizer
      The 45th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Advanced Wideband Sensorless Force Control Based on Harmonic Estimation Integrated Singular Spectrum Analysis Based Disturbance Observer2019

    • Author(s)
      Thao Tran Phuong、Kiyoshi Ohishi、Yuki Yokokura
    • Organizer
      The 45th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] 双対性に着目した二剛性系の力制御による安定接触制御2019

    • Author(s)
      川合 勇輔、横倉 勇希、大石 潔、宮崎 敏昌
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] 実対角化を用いた2次共振振動抑制電流制御に基づく3慣性系の振動抑制法2019

    • Author(s)
      矢吹 明紀、大石 潔、宮崎 敏昌、横倉 勇希
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] タイバー温調射出成形機の低次元化とその状態フィードバック制御2019

    • Author(s)
      松井 佑樹、大石 潔 、横倉 勇希、森田 洋、堀田 大吾
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] 加速度センサを用いた二慣性系のロバストな負荷側加速度制御2019

    • Author(s)
      鈴木 駿介、横倉 勇希、川合 勇輔、大石 潔 、宮崎 敏昌
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] 負荷側外乱とモータ側外乱の双方を考慮した分配型外乱オブザーバの提案2019

    • Author(s)
      石川 雄大、横倉 勇希、大石 潔
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] 零速度領域を含めたSPMモータの温度推定法2019

    • Author(s)
      岡田 裕司、岩田 大輝、大石 潔、横倉 勇希、井出 勇次、倉石 大悟、高橋 昭彦
    • Organizer
      令和元年電気学会産業応用部門大会
    • Related Report
      2019 Research-status Report
  • [Presentation] Vibration Suppression Control of Underactuated Joint Consists of One Motor Driving Two Gears2019

    • Author(s)
      Thang Xuan Bo、Kiyoshi Ohishi、Toshimasa Miyazaki、Yuki Yokokura
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] ドリフトフリー瞬時状態オブザーバの一検討2019

    • Author(s)
      篠崎泰雅、川合 勇輔、鈴木 駿介、横倉 勇希、大石 潔、宮崎 敏昌
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 共振比とモータ速度の二重マイナーループを用いた高応答ねじれトルク制御の提案2019

    • Author(s)
      小林 勇斗、横倉 勇希、川合 勇輔、鈴木 駿介、大石 潔、宮崎 敏昌
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 産業用ロボット基本3軸の軸間干渉力と慣性変動を考慮した制振制御2019

    • Author(s)
      松井 洸、大石 潔、横倉 勇希、宮崎 敏昌
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 電動ショベルカーの衝撃力緩和に関する一検討2019

    • Author(s)
      中野 凜太郎、大石 潔、横倉 勇希
    • Organizer
      令和元年電気学会東京支部新潟支所研究発表会
    • Related Report
      2019 Research-status Report
  • [Presentation] 揺れない初期磁極位置推定法の一検討2019

    • Author(s)
      岡田 裕司、大石 潔、横倉 勇希
    • Organizer
      令和元年電気学会東京支部新潟支所研究発表会
    • Related Report
      2019 Research-status Report
  • [Presentation] 産業用ロボットの電流制御系と独立したZPETCによる動力学補償法2019

    • Author(s)
      溝 大貴、大石 潔、宮崎 敏昌、横倉 勇希、矢吹 明紀
    • Organizer
      令和元年電気学会東京支部新潟支所研究発表会
    • Related Report
      2019 Research-status Report
  • [Presentation] 産業用ロボットのFDTDオブザーバを用いた制振制御についての一検討2019

    • Author(s)
      松井 洸、大石 潔、横倉 勇希、矢吹 明紀
    • Organizer
      令和元年電気学会東京支部新潟支所研究発表会
    • Related Report
      2019 Research-status Report
  • [Presentation] MNCによる駆動側のノミナル化した二慣性系のモデル予測制御2019

    • Author(s)
      井脇 隆議、大石 潔、横倉 勇希
    • Organizer
      令和元年電気学会東京支部新潟支所研究発表会
    • Related Report
      2019 Research-status Report
  • [Presentation] 様々な環境へのインタラクションを可能とする安定な力制御技術が実現するヒューマンインタラクションロボット2019

    • Author(s)
      川合 勇輔、横倉 勇希、大石 潔、宮崎 敏昌
    • Organizer
      第10回横幹連合カンファレンス
    • Related Report
      2019 Research-status Report
  • [Presentation] 低コスト劣駆動ロボットの振動抑制制御で広がるレジレントインフラのグローバル化2019

    • Author(s)
      Than Xuan Bo、大石 潔、宮崎 敏昌、横倉 勇希
    • Organizer
      第10回横幹連合カンファレンス
    • Related Report
      2019 Research-status Report
  • [Presentation] オイルシール装着ギアーモータのスティックスリップ補償によって広がるヒューマンインタラクションロボットアクチュエータ2019

    • Author(s)
      Juan Padron、横倉 勇希、大石 潔、宮崎 敏昌
    • Organizer
      第10回横幹連合カンファレンス
    • Related Report
      2019 Research-status Report
  • [Presentation] Fine Human Interaction Road Map Based on Wideband Sensor-less Force Control2019

    • Author(s)
      Thao Tran Phuong、Kiyoshi Ohishi、Yuki Yokokura
    • Organizer
      第10回横幹連合カンファレンス
    • Related Report
      2019 Research-status Report
  • [Presentation] ヒューマンインタラクションロボットアクチュエータのための2慣性共振系の負荷側加速度制御2019

    • Author(s)
      横倉 勇希、大石 潔
    • Organizer
      第10回横幹連合カンファレンス
    • Related Report
      2019 Research-status Report
  • [Presentation] 他軸干渉を考慮した動力学補償を用いた産業用ロボットの力制御2019

    • Author(s)
      溝 大貴、大石 潔、宮崎 敏昌、横倉 勇希、矢吹 明紀
    • Organizer
      電気学会メカトロニクス制御研究会
    • Related Report
      2019 Research-status Report
  • [Presentation] Force Impulse Control Based on Resonance Ratio Control for Anti-bouncing Motion2019

    • Author(s)
      Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Contact control of two inertial systems based on velocity damping by equivalent disturbance compensator2019

    • Author(s)
      Shunsuke Suzuki, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Model Prediction Direct Current Control Considering Performance of Selective-Harmonic-Elimination Based on PWM pattern2019

    • Author(s)
      Haruya Kada, Kiyoshi Ohishi, Yuki Yokokura
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Experimental Observation of Torsion Torque Using a Double-Encoder-Based Stiffness Variation Torque Observer2019

    • Author(s)
      Julio Cesar Vera Paramo, Hirotaka Muto, Kiyoshi Ohishi, Yuki Yokokura
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Realtime Discretization of Disturbance Observer Based on FDTD Method for Time-Variant System2019

    • Author(s)
      Hirotaka Muto, Yuki Yokokura, Kiyoshi Ohishi
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Reduction of non-linear distortion in a stick-slip suppression system using velocity-triggered high-frequency damping2019

    • Author(s)
      Juan Padron, Yuki Yokokura, Kiyoshi Ohishi
    • Organizer
      The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization SAMCON2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Stick-slip suppression in geared motor using speed-variant transient components of high-order Motor-side Normalization Compensator2019

    • Author(s)
      Juan Padron, Kiyoshi Ohishi, Yuki Yokokura
    • Organizer
      The IEEE International Conference on Mechatronics ICM2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Force Sensorless Force Control Using Notch-Type Dual Disturbance Observer2019

    • Author(s)
      Naoki Kamiya, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki
    • Organizer
      The IEEE International Conference on Mechatronics ICM2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Identification of Internal Impedance Parameters of Multi-Inertial Environment For Haptic Rendering2018

    • Author(s)
      Hirotaka Muto, Yuki Yokokura, Kiyoshi Ohishi
    • Organizer
      The 27th IEEE International Symposium on Industrial Electronics
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Analysis of Estimation Performance of Load-side Torque and Load-side Velocity Observers for Human Interaction Control Based on Torsion Torque Control2018

    • Author(s)
      Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
    • Organizer
      2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2018-Auckland
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Haptic Rendering for Time-Variant System Based on FDTD Method Concidering Realtime Discretization2018

    • Author(s)
      Hirotaka Muto, Yuki Yokokura, Kiyoshi Ohishi
    • Organizer
      The 44th Annual Conference of the IEEE Industrial Electronics Society(IECON)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] MPDCC Based High Efficiency Harmonic Reduction Control for IPMSM Driven by Electrolytic Capacitorless Inverter2018

    • Author(s)
      Yushi Araki, Kiyoshi Ohishi, Yuki Yokokura, Kodai Abe
    • Organizer
      The 44th Annual Conference of the IEEE Industrial Electronics Society(IECON)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Remarks] Side Warehouse of Laboratory

    • URL

      http://www.sidewarehouse.net/

    • Related Report
      2020 Annual Research Report
  • [Remarks] 人に優しい協働ロボット

    • URL

      http://www.sidewarehouse.net/backdrive/index.html

    • Related Report
      2018 Research-status Report

URL: 

Published: 2018-04-23   Modified: 2022-01-27  

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