Development of a motion control system adapting to real environment for robots with nonlinear springs
| Project/Area Number |
21560460
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Mie University |
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Principal Investigator |
KOMADA Satoshi 三重大学, 大学院・工学研究科, 准教授 (10215387)
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| Co-Investigator(Kenkyū-buntansha) |
HIRAI Junji 三重大学, 大学院・工学研究科, 教授 (30345996)
SHIRAI Tatsuya 鈴鹿工業高等専門学校, 機械工学科, 准教授 (20342503)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
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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| Keywords | 非線形バネ / ロボット / 剛性 / 環境適応 / 腱駆動 / リミッター / 非線形バネ機構 / 関節剛性 / モーションコントロール / ヒステリシス特性 / 外乱オブザーバ |
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| Research Abstract |
In order to realize a useful motion control in human environment, researches has been done for the following topics :(1) developing a flexible and safety manipulator,(2) developing a robust control method for uncertainty and variation of environment, and(3) acquisition of motion adaptive to environment. For(1), development of a manipulator using nonlinear springs SAT for catching motion is done. For(2), development and experiment of an end point stiffness control of a 2 joint arm is done. For(3), application of a method using neural network and reinforcement learning is done.
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Report
(4 results)
Research Products
(29 results)
