Passivity based control and design of hydraulic robot manipulators

• Project/Area Number: 19760148
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Dynamics/Control
• Research Institution: Chiba University
• Principal Investigator: SAKAI Satoru Chiba University, 大学院・工学研究科, 助教 (90400811)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥3,460,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥360,000); Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2008: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2007: ¥1,900,000 (Direct Cost: ¥1,900,000)
• Keywords: 油圧ロボット / 非線形制御 / モデリング / 機構設計 / ロバスト制御 / ハミルトン系 / 受動性 / 構造可変ロボット

Research Abstract

Passivity based control and design of hydraulic robot manipulators are studied theoretically and experimentally. 1) The continuity law is generalized as a new dynamic constitutive law in order to derive a new canonical expression for hydraulic robot manipulators. 2) A new standard experimental setup is proposed to switch between open link and closed link and also to select joint-interferences such as centrifugal/Coriolis effects. 3) A new passivity based dynamic controls are proposed to achieve disturbance rejection, adaptive stabilization and output feedback stabilization.

Research Products

• [Journal Article] A novel passivity based control of active magnetic bearing systems without conventional cross-feedback (2009)
  • Author(s): Satoru Sakai, Kenta Kuriyama, Kenzo Nonami
  • Journal Title: Journal of design and dynamics Vol.3,No.4 Pages: 540-550
  • NAID: 130000132906
• [Journal Article] A novel passivity based control of active magnetic bearing systems without conventional cross-feedback (2009)
  • Author(s): Satoru Sakai, Kenta Kuriyama, Kenzo Nonami
  • Journal Title: Journal of design and dynamics Vol.3, No.4 Pages: 540-550
  • NAID: 130000132906
  • Peer Reviewed
• [Journal Article] Port-based modeling and adaptive gravity compensation of N-DOF hydraulic robots (2009)
  • Author(s): Sakai Satoru, Koichi Osuka
  • Journal Title: Proceedings of International Symposium on Mobiligence
  • Peer Reviewed
• [Journal Article] A passivity based integral action of robotic manipulators using Casimir function (2009)
  • Author(s): Sakai Satoru, Stefano Stramigioli
  • Journal Title: Proceedings of International IFAC Symposium on Robot Control
  • Peer Reviewed
• [Journal Article] 油圧ロボットアームの非線形力制御 (2009)
  • Author(s): 酒井悟
  • Journal Title: ロボティクスシンポジア Pages: 140-145
  • Peer Reviewed
• [Journal Article] Design and control of a heavy material handling manipulator for agricultural robots (2008)
  • Author(s): Satoru Sakai, Michihisa Iida, Koichi Osuka, Mikio Umeda
  • Journal Title: Autonomous robots Vol.25,No.3 Pages: 189-204
• [Journal Article] 移動機能を有する農業ロボットのための理論作業量の拡張 (2008)
  • Author(s): 酒井悟
  • Journal Title: 農業機械学会誌 Vol.70,No.6 Pages: 85-89
  • NAID: 10024412709
• [Journal Article] A partial stabilization of port-Hamitonian systems with natural Casimir functions (2008)
  • Author(s): S. Sakai, et.al.
  • Journal Title: Proc of IFAC Pages: 2791-2796
  • Peer Reviewed
• [Journal Article] Passivity based control of hydraulic robot arms using natural Casimir functions : Theory and experiments (2008)
  • Author(s): S.Sakai, et.al.
  • Journal Title: Proc of IROS Pages: 538-544
  • Peer Reviewed
• [Journal Article] Design and Control of a heavy material handling manipulator for a gricultural robots (2008)
  • Author(s): S. Sakai, M. Iida K. Osuka, M. Umeda
  • Journal Title: Autonomous robots http://www.springerlink.com/content/2208w77113752876/ ON-LINE
  • Peer Reviewed
• [Journal Article] A partial stabilization of port-Hamitonian systems with natural Casimir functions (2008)
  • Author(s): S. Sakai
  • Journal Title: Proceedings of International Federation of Automatic Control Accepted Pages: 2791-2796
  • Peer Reviewed
• [Journal Article] Passivity based energy control of an inertia wheel pendulum via time-varying virtual constraints (2007)
  • Author(s): K. Fujimoto, S. Matsumoto, S. Sakai
  • Journal Title: Trans. of Institute of Systems, Control and Information Engineers 20 Pages: 416-418
  • NAID: 10019638841
  • Peer Reviewed
• [Journal Article] アクチュエータとセンサのないロボットハンドのための入出力機構系
  • Author(s): 酒井悟, 中村安秀, 野波健藏
  • Journal Title: 日本ロボット学会誌 (Accepted)
• [Journal Article] Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
  • Author(s): Kenji Fujimoto, Satoru Sakai, Toshiharu Sugie
  • Journal Title: Automatica (Accepted)
• [Journal Article] アクチュエータとセンサを用いないpick-and-placeハンドのための機構系
  • Author(s): 酒井悟, 中村安秀, 野波健蔵
  • Journal Title: 日本ロボット学会誌 (掲載決定)
  • Peer Reviewed
• [Journal Article] Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
  • Author(s): K. Fujimoto, S.Sakai, S. Sugie
  • Journal Title: Automatica (掲載決定)
  • Peer Reviewed
• [Presentation] On the application of theoretical field capacity/ (2009)
  • Author(s): Satoru Sakai, Mikio Umeda
  • Organizer: Proceedings of International Conference on Robotics and Automation, Workshop on autonomous agriculture, WWH-2
  • Place of Presentation: Kobe, Japan
  • Year and Date: 2009-05-19
• [Presentation] カシミール関数生成による機械システムの積分補償 (2009)
  • Author(s): 酒井悟, 栗山健太, 野波健蔵
  • Organizer: 計測自動制御学会制御部門大会
  • Place of Presentation: 広島大学(東広島市)
  • Year and Date: 2009-03-04
• [Presentation] Port-based modeling and adaptive gravity compensation of N-DOF hydraulic robots (2009)
  • Author(s): Sakai Satoru, Koichi Osuka
  • Organizer: Proceedings of International Symposium on Mobiligence
  • Place of Presentation: Awaji, Japan
• [Presentation] A passivity based integral action of robotic manipulators using Casimir function (2009)
  • Author(s): Sakai Satoru, Stefano Stramigioli
  • Organizer: Proceedings of International IFAC Symposium on Robot Control
  • Place of Presentation: Gifu, Japan
• [Presentation] On the application of theoretical field capacity (2009)
  • Author(s): Sakai Satoru, Mikio Umeda
  • Organizer: Proceedings of International Conference on Robotics and Automation, Workshop on autonomous agriculture
  • Place of Presentation: Kobe, Japan
• [Presentation] 油圧アームの受動性に基づく制御 (2008)
  • Author(s): 酒井
  • Organizer: 計測自動制御学会 制御部門大会
  • Place of Presentation: 京都大学
  • Year and Date: 2008-03-06
• [Presentation] Passivity Based Control of Hydraulic Robot Arms Using Natural Casimir Functions: Theory and Experiments (2008)
  • Author(s): Satoru Sakai, Stefano Stramigioli
  • Organizer: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Nice, France
• [Presentation] Partial stabilization of port-Hamitonian systems with natural Casimir functions (2008)
  • Author(s): Satoru Sakai
  • Organizer: Proceedings of IFAC
  • Place of Presentation: Soul, Korea
• [Presentation] Port-Hamiltonian approaches to motion generation for mechanical systems (2007)
  • Author(s): Satoru Sakai, Stefano Stramigioli
  • Organizer: Proceedings of IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
• [Presentation] A pick-and-place hand mechanism without any actuators and sensors (2007)
  • Author(s): Satoru Sakai, Yasuhide Nakamura, Kenzo Nonami
  • Organizer: Proceedings of IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
• [Book] Ferroelectrics(An exact impedance control of DC motors using natural Casimir functions) (2010)
  • Author(s): Satoru Sakai
  • Publisher: In-tech.(Accepted)
• [Book] Cutting Edge Robotics 2009(Passivity based control of hydraulic robot arms using natural Casimir functions) (2009)
  • Author(s): Satoru Sakai
  • Publisher: In-tech.(Accepted)
• [Book] Cutting Edge Robotics 2009, ISBN 978-3-902613-46-2 (2009)
  • Author(s): Satoru Sakai
  • Publisher: IN-TECH(In print)
• [Remarks]
  • URL: http://mec2.tm.chiba-u.jp/~satoru/
• [Remarks]
  • URL: http://mec2.tm.chiba-u.jp/~satoru/