Study on Control System and Robot Structure of Advanced Composites
| Project/Area Number |
22560215
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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 |
Dynamics/Control
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| Research Institution | Hokkaido University |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
EMARU Takanori 北海道大学, 大学院・工学研究院, 准教授 (30440952)
HOSHINO Yohei 北海道大学, 大学院・工学研究院, 助教 (90374579)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 制御工学 / ロボット工学 / 複合材料 / 柔軟ロボットアーム / 投球動作 / 最適剛性 / サーボモーター / 動ひずみ / シミュレーション |
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| Research Abstract |
A robot arm made of composite material has been developed and the nonlinear model for the ball-throwing motion has been derived. Simultaneous optimization of input torque pattern and structure parameters has been analyzed by means of the soft computing approaches. Availability of the proposed thechnique and the highly effective performance of the robot arm have been confirmed by pursuing simulation and experiments
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Report
(4 results)
Research Products
(8 results)
