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Studies on Collision Detection and Control of Multi-link Flexible Manipulators for Their Safety Operations

Research Project

Project/Area Number 21560240
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionKyoto Institute of Technology

Principal Investigator

SAWADA Yuichi  京都工芸繊維大学, 工芸科学研究科, 准教授 (80273548)

Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2009: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Keywordsマニピュレータ / 柔軟構造物 / 制御 / 衝突検出 / 安全性
Research Abstract

In this research, the following results have been obtained. Considering the nonlinearity of flexible manipulators, Unscented Kalman Filers(UKF) as nonlinear state estimators have been introduced in order to obtain the state estimate of the manipulator. The collision detection for multi-link flexible manipulator has been succeeded based on the innovation process of the UKF. Since the impact force caused by collisions are regarded as unknown disturbance, the estimation error of the state estimator increases when the collision occurs. The deterioration of the estimation error affects the control performance for the flexible manipulator when the collision is detected. To improve the control performance of the flexible manipulator when unobserved obstacles collide with the arm's side, Optimal Disturbance Decoupling Filters that decouples undesired collision force effects from the estimation error have been introduced. As the result, the control performance when the collision occurs have successfully improved.

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (23 results)

All 2012 2011 2010 2009

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (17 results) Book (2 results)

  • [Journal Article] An Improved Recursive Algorithm of Optimal Filter for Discrete-time Linear Systems Subject to Colored Observation Noise, Int. J. Inno-vative Computing2012

    • Author(s)
      Y. Sawada and A. Tanikawa
    • Journal Title

      Information and Con-trol

      Volume: Vol.8, No.3(B) Pages: 2389-2397

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] UKF-Based Collision Detection and Con-trol of Parallel-structured Two-link Flexi-ble Manipulators, Int. J. Innovative Com-puting2012

    • Author(s)
      Y. Sawada, J. Kondo and Y. Watanabe
    • Journal Title

      Information and Control

      Volume: Vol.8, No.3(B) Pages: 2399-2413

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] UKF-Based Collision Detection and Control of Parallel-structured Two-link Flexible Manipulators2012

    • Author(s)
      Yuichi Sawada, Junki Kondo, Yusuke Watanabe
    • Journal Title

      International Journal of Innovative Computing, Information & Control

      Volume: Vol.8 Pages: 2399-2413

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] An Improved Recursive Algorithm of Optimal Filter for Discrete-time Linear Systems Subject to Colored Observation Noise2012

    • Author(s)
      Yuichi Sawada, Akio Tanikawa
    • Journal Title

      International Journal of Innovative Computing, Information & Control

      Volume: Vol.8 Pages: 2389-2397

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Presentation] 衝突入力の影響を受けないUKFを用いた柔軟アームの制御とイノベーション過程に基づく衝突検出2011

    • Author(s)
      澤田祐一, 寳壁俊之
    • Organizer
      第54回自動制御連合講演会
    • Place of Presentation
      愛知県豊橋市・豊橋技術科学大学
    • Year and Date
      2011-11-20
    • Related Report
      2011 Annual Research Report
  • [Presentation] Robust Filter Based Control of A Single-link Flexible Arm and Its Collision Detection Using Innovation Process2011

    • Author(s)
      Yuichi Sawada, Tatsuya Fujimoto, Atsushi Moritani, Akio Tanikawa
    • Organizer
      The 43rd ISCIE International Symposium on Stochastic SystemsTheory and Its Applications
    • Place of Presentation
      滋賀県草津市・立命館大学(Epoch Ritsumei 21)
    • Year and Date
      2011-10-28
    • Related Report
      2011 Annual Research Report
  • [Presentation] Control of a Parallel-link Flexible Manipulator based on Lumped Parameter Model Approach Using Strain Sensor Model2011

    • Author(s)
      Y.Andoy, Y.Sawaday, G.Takahashiz, S.Yokosuka
    • Organizer
      第55回システム制御情報学会研究発表講演会
    • Place of Presentation
      大阪府吹田市・大阪大学コンベンションセンター
    • Year and Date
      2011-05-17
    • Related Report
      2011 Annual Research Report
  • [Presentation] Control of a Parallel-link Flexible Manipulator based on Lumped Parameter Model Approach Using Strain Sensor Model2011

    • Author(s)
      Y.Ando, Y.Sawada, G.Takahashi, S.Yokosuka
    • Organizer
      The 42nd ISCIE International Symposium on Stochastic Systems Theory and Its Applications
    • Place of Presentation
      大阪大学コンベンションセンター(発表予定)
    • Year and Date
      2011-05-17
    • Related Report
      2010 Annual Research Report
  • [Presentation] 衝突入力の影響を受けないUKFを用いた柔軟アームの制御とイノベーション過程に基づく衝突検知2011

    • Author(s)
      澤田祐一, 寳壁俊之
    • Organizer
      第54回自動制御連合講演会予稿集
    • Place of Presentation
      豊橋市
    • Related Report
      2011 Final Research Report
  • [Presentation] Robust Filter Based Control of a Single-link Flexible Arm and Its Col-lision Detection Using Innovation Process2011

    • Author(s)
      Y. Sawada, T. Fujimoto, A. Moritani and A. Tanikawa
    • Organizer
      the 43rd ISCIE International Sympo-sium on Stochastic Systems Theory and Its Applications
    • Place of Presentation
      Shiga, Japan
    • Related Report
      2011 Final Research Report
  • [Presentation] 1リンク柔軟アームの衝突検出と衝突の方向を考慮した停止制御2011

    • Author(s)
      寳壁俊之, 澤田祐一
    • Organizer
      第21回インテリジェント・システム・シンポジウム講演原稿集
    • Place of Presentation
      神戸
    • Related Report
      2011 Final Research Report
  • [Presentation] Collision Detection and Control of Parallel-structured Two-link Flexible Manipulators using Unscented Kalman Filter2010

    • Author(s)
      Y.Sawada, J.Kondo, Y.Watanabe
    • Organizer
      The 42nd ISCIE International Symposium on Stochastic Systems Theory and Its Applications
    • Place of Presentation
      岡山理科大学
    • Year and Date
      2010-11-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] Unscented Kalman Fiterを用いた柔軟マニピュレータの衝突検出とUnscented変換の特性検証2010

    • Author(s)
      渡邊裕介・澤田祐一
    • Organizer
      第53回自動制御連合講演会
    • Place of Presentation
      高知県高知城ホール
    • Year and Date
      2010-11-04
    • Related Report
      2010 Annual Research Report
  • [Presentation] Unscented Kalman フィルターを用いた1リンク柔軟マニピュレータの衝突検知2010

    • Author(s)
      渡邊裕介, 澤田祐一, 近藤純基
    • Organizer
      第10回計測自動制御学会 制御部門大会
    • Place of Presentation
      熊本
    • Year and Date
      2010-03-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] Optimal State Estimators for a Class of Discrete-time Linear Systems with Colored Obser-vation Noise Using Improved Recursive For-mula2010

    • Author(s)
      Y. Sawada and A. Tanikawa
    • Organizer
      the 42nd ISCIE International Symposium on Stochastic Systems The-ory and Its Applications
    • Place of Presentation
      Okayama, Japan
    • Related Report
      2011 Final Research Report
  • [Presentation] Collision Detection and Control of Parallel-structured Two-link Flexible Manipulators Using Unscented Kalman Filter2010

    • Author(s)
      Y. Sawada, J. Kondo and Y. Watanabe
    • Organizer
      the 42nd ISCIE International Symposium on Stochastic Systems Theory and Its Applica-tions
    • Place of Presentation
      Okayama, Japan
    • Related Report
      2011 Final Research Report
  • [Presentation] Unscented Kalman Filterを用いた柔軟マニピュレータの衝突検出とUnscented変換の特性検証2010

    • Author(s)
      渡邊裕介, 澤田祐一
    • Organizer
      第53回自動制御連合講演会予稿集
    • Place of Presentation
      高知
    • Related Report
      2011 Final Research Report
  • [Presentation] Unscented Kalman Filterに基づいた不規則外乱を受ける並行構造2リンク柔軟マニピュレータの衝突検知2009

    • Author(s)
      近藤純基, 澤田祐一
    • Organizer
      第52回自動制御連合講演会予稿集
    • Place of Presentation
      大阪
    • Year and Date
      2009-11-21
    • Related Report
      2011 Final Research Report
  • [Presentation] Unscented Kalman Filter に基づいた不規則外乱を受ける並行構造2リンク柔軟マニピュレータの衝突検知2009

    • Author(s)
      近藤純基, 澤田祐一
    • Organizer
      第52回自動制御連合講演会
    • Place of Presentation
      大阪
    • Year and Date
      2009-11-21
    • Related Report
      2009 Annual Research Report
  • [Presentation] On a Control of Multi-link Flexi-ble Manipulators Using Sliding Mode Ob-server and Its Numerical Simulations2009

    • Author(s)
      H. Okumura, Y. Sawada and G. Taka-hashi
    • Organizer
      the 53rd Annual Conference of the Institute of Systems, Control and Information Engi-neers
    • Place of Presentation
      Kobe, Japan
    • Related Report
      2011 Final Research Report
  • [Presentation] Model-ing of a Parallel-structured Two-link Flexi-ble Arm2009

    • Author(s)
      R. Fukui, Y. Sawada and J. Kondo
    • Organizer
      the 53rd Annual Conference of the Institute of Systems, Control and In-formation Engineers
    • Place of Presentation
      Kobe, Japan
    • Related Report
      2011 Final Research Report
  • [Book] Ad-vanced Strategies for Robot Manipulators2010

    • Author(s)
      Y. Sawada, J. Kondo and Y. Watanabe
    • Publisher
      Seyed Ehsan Shafiei Sciyo
    • Related Report
      2011 Final Research Report
  • [Book] Advanced Strategies for Robot Manipulators(共著)2010

    • Author(s)
      Y.Sawada, Y.Watanabe, J.Kondo
    • Publisher
      Sciyo
    • Related Report
      2010 Annual Research Report

URL: 

Published: 2009-04-01   Modified: 2016-04-21  

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