Study on Nonstationary Motion Control Methods Realizing High Performance and Safety of Human Related Mechanical Systems
| Project/Area Number |
19760157
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Dynamics/Control
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| Research Institution | Nagoya University (2008-2009)
Toyota Technological Institute (2007) |
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Principal Investigator |
SUSUMU Hara Nagoya University, 大学院・工学研究科, 講師 (40329850)
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| Project Period (FY) |
2007 – 2009
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| Project Status |
Completed (Fiscal Year 2009)
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| Budget Amount *help |
¥3,780,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥480,000)
Fiscal Year 2009: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2007: ¥1,700,000 (Direct Cost: ¥1,700,000)
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| Keywords | 制御工学 / 運動制御 / 人間-機械系 / 非定常制御 / 機能安全 / 振動制御 / モード切り換え / パワーアシスト / 柔軟構造物 / 最適制御 / 隠れマルコフモデル / リーチモニタリング / 衝突ハザード予測 |
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| Research Abstract |
For human related mechanical systems, this study aims to propose nonstationary motion control methods realizing high performance and safety based on control conditions and/or environments and apply these methods to man-machine systems or general mechanical structures. As a main result, this study proposed a control method switching from automatic transfer to manual motion with power assist and realized safety-preservation oriented reaching monitoring before the mode switching.
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Report
(4 results)
Research Products
(7 results)
