| 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)
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| 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.
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