• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Stabilization of natural motions embedded in chaotic responses of a multilink robot; Applications of bifurcation theory

Research Project

Project/Area Number 21K04109
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionThe University of Tokushima

Principal Investigator

UETA Tetsushi  徳島大学, 情報センター, 教授 (00243733)

Co-Investigator(Kenkyū-buntansha) 美井野 優  鳴門教育大学, 大学院学校教育研究科, 講師 (70845049)
伊藤 大輔  岐阜大学, 工学部, 助教 (90759250)
Project Period (FY) 2021-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2023: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2022: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2021: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywordsロボット / 旋回運動 / 多様体 / 分岐 / ホモクリニック軌道 / カオス / サドル型平衡点 / 一次元不安定多様体 / 二次元安定多様体 / 平衡点 / サドル / 2関節マニピュレータ / 2重振り子 / 第2種周期解 / 大域的分岐 / 分岐現象 / 姿勢制御 / 第二種周期解 / 多関節ロボット / 非線形微分方程式 / カオス制御
Outline of Research at the Start

多関節ロボットは高次元非線形微分方程式で記述され,状態空間は位相的に単位円を複数含み,摩擦が少なければその運動はカオス的である.しかしこれらの運動はロボットの運動設計ではあまり利用されていない.本研究では,各関節に定トルクが印加されたロボットについて,カオスに内包される不安定周期軌道の網羅的な計算により,その運動の不規則性を検討する.(1)サドル型平衡点に関するホモクリニック軌道を計算する.(2)強制系の馬蹄写像を同定し,記号力学の援用により不安定周期軌道を高精度で求める.得られた軌道は自然動作であると考えられ,カオス制御を適用して安定化することにより効率の高いエネルギー制御を実現する.

Outline of Final Research Achievements

We studied the homoclinic orbits of a two-link robot in which a friction loss and a constant torque at each joint are applied. The system becomes a four-dimensional autonomous system including many nonlinear functions. We calculated the bifurcation diagram which is which is able to explain the number of equilibrium points and their topological properties. We also identified all possible cases of the manifolds regarding equilibria and formulated the conditions of existence for a homoclinic orbit. Using numerical methods for solving variational equations, we computed several homoclinic orbits and investigated their relationship with the cylindrical periodic solutions. We developed analytical tools using Python and visualized the dynamical behavior of a two-link robot simulator.

Academic Significance and Societal Importance of the Research Achievements

2リンクロボットではあっても,正弦関数・余弦関数が複雑に絡む方程式となり,その非線形力学系としての解析結果はあまり例をみない.また,この系に関するホモクリニック軌道の検討例もいくつかは存在するが,摩擦を考慮しない特殊な場合を対象としている.よって摩擦を鑑みた,より実モデルに近い系におけるホモクリニック軌道や,第二種周期解について解析を行った取組は他にはないと思われる.

Report

(4 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • Research Products

    (16 results)

All 2024 2023 2022 2021

All Journal Article (5 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 5 results,  Open Access: 3 results) Presentation (11 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] Transient Responses to Relaxation Oscillations in Multivibrators2024

    • Author(s)
      Amoh Seiya、Ueta Tetsushi、Kawakami Hiroshi
    • Journal Title

      IEEE Access

      Volume: 12 Pages: 471-482

    • DOI

      10.1109/access.2023.3345840

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Stabilization of Laminars in Chaos Intermittency2024

    • Author(s)
      Katayama Michiru、Ikeda Kenji、Ueta Tetsushi
    • Journal Title

      International Journal of Bifurcation and Chaos

      Volume: 34 Issue: 02 Pages: 1-14

    • DOI

      10.1142/s021812742450024x

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Structurally Unstable Synchronization and Border-Collision Bifurcations in the Two-Coupled Izhikevich Neuron Model2023

    • Author(s)
      Miino Yuu、Ueta Tetsushi
    • Journal Title

      International Journal of Bifurcation and Chaos

      Volume: 33 Issue: 16 Pages: 1-15

    • DOI

      10.1142/s0218127423300409

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Bifurcations in a forced Wilson-Cowan neuron pair2023

    • Author(s)
      Yoshikawa Masaki、Ono Kentaro、Ueta Tetsushi
    • Journal Title

      Nonlinear Theory and Its Applications, IEICE

      Volume: 14 Issue: 2 Pages: 366-377

    • DOI

      10.1587/nolta.14.366

    • ISSN
      2185-4106
    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Bifurcations in a forced Wilson-Cowan neuron pair2022

    • Author(s)
      Yoshikawa Masaki、Ono Kentaro、Ueta Tetsushi
    • Journal Title

      Proceedings of NOLTA 2022

      Volume: 1 Pages: 155-158

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] Python Expressions of Variational Equations2023

    • Author(s)
      Tetsushi Ueta
    • Organizer
      2023 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Development of Bifurcation Analysis Software Using Python2023

    • Author(s)
      Seiya Amoh and Tetsushi Ueta
    • Organizer
      2023 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Laminar stabilization control in chaos intermittency2023

    • Author(s)
      Michiru Katayama, Kenji Ikeda and Tetsushi Ueta
    • Organizer
      2023 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Multivibrator with Slow-Fast Dynamics2023

    • Author(s)
      Seiya Amoh and Tetsushi Ueta
    • Organizer
      2023 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 分岐問題計算再考 --続報--2023

    • Author(s)
      上田 哲史
    • Organizer
      電子情報通信学会非線形問題研究会
    • Related Report
      2022 Research-status Report
  • [Presentation] 2 リンクロボットにおける大域的分岐2023

    • Author(s)
      山口 力也, 伊藤 大輔,美井野 優, 上田 哲史
    • Organizer
      電子情報通信学会非線形問題研究会(Web会議)
    • Related Report
      2022 Research-status Report
  • [Presentation] Python を用いた分岐解析ツールの開発2022

    • Author(s)
      吉川 聖輝,天羽 晟矢, 上田 哲史
    • Organizer
      令和4年度電気・電子・情報関係学会四国支部連合大会
    • Related Report
      2022 Research-status Report
  • [Presentation] シナプス結合 FitzHugh-Nagumo モデルにおける周期解の分岐2022

    • Author(s)
      片山 充二, 天羽 晟矢, 上田 哲史
    • Organizer
      令和4年度電気・電子・情報関係学会四国支部連合大会
    • Related Report
      2022 Research-status Report
  • [Presentation] 連鎖律の Python 実装について2022

    • Author(s)
      上田 哲史
    • Organizer
      令和4年度電気・電子・情報関係学会四国支部連合大会
    • Related Report
      2022 Research-status Report
  • [Presentation] 強制 Wilson-Cowan ニューロン対の分岐現象2022

    • Author(s)
      小野 健太郎 上田哲史
    • Organizer
      令和4年度電気・電子・情報関係学会四国支部連合大会(Web会議)
    • Related Report
      2022 Research-status Report
  • [Presentation] 定トルクを加えた減衰単振り子の大域的分岐2021

    • Author(s)
      山口 力也,美井野 優,伊藤 大輔,上田 哲史
    • Organizer
      電気電子情報関係学会四国支部連合大会
    • Related Report
      2021 Research-status Report

URL: 

Published: 2021-04-28   Modified: 2025-01-30  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi