Study on Control System and Robot Structure of Advanced Composites

• Project/Area Number: 22560215
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Hokkaido University
• Principal Investigator: KOBAYASHI Yukinori 北海道大学, 大学院・工学研究院, 教授 (10186778)
• 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)
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥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)
• 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

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

Research Products

• [Presentation] Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm (2013)
  • Author(s): Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINOand Takarori EMARU
  • Organizer: Proceedings of the International Conference on Mechatronics and Robotics (ICMR2013)
  • Place of Presentation: Holliday Inn London-Wenbley, United Kingdom
• [Presentation] Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm (2013)
  • Author(s): Yukinori KOBAYASHI
  • Organizer: International Conference on Mechatronics and Robotics (ICMR 2013)
  • Place of Presentation: Holiday Inn London - Wembley, London, UK
• [Presentation] 柔軟ロボットアームによる高効率投球動作に関する研究 (2012)
  • Author(s): 山川量平,小林幸徳,蓋軼之,星野洋平,江丸貴星野洋平(HOSHINO YOHEI)
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会論文集(DVD-ROM)
  • Place of Presentation: 福岡国際会議場,福岡市
• [Presentation] Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm (2012)
  • Author(s): Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA , Yohei HOSHINO and Takarori EMARU
  • Organizer: Proceedings of the 16th International Conference on Mechatronics Technology
  • Place of Presentation: Holliday Inn Tianjin Riverside, Tianjin,China
• [Presentation] Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm (2012)
  • Author(s): Yukinori KOBAYASHI
  • Organizer: 16th International Conference on Mechatronics Technology (ICMT2012)
  • Place of Presentation: Holliday Inn Tianjin Riverside, Tianjin, China
• [Presentation] 柔軟ロボットアームによる高効率投球動作に関する研究 (2012)
  • Author(s): 小林幸徳
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会 (SI2012)
  • Place of Presentation: 福岡国際会議場, 福岡市
• [Presentation] Motion Control of a Flexible Robotic Arm by Utilizing Its Dynamics (2011)
  • Author(s): Yizhi Gai, Yukinori Kobayashi, Ryohei Yamakawa, Yohei Hoshino, Takarori Emaru
  • Organizer: 14th Asia Pacific Vibration Conference
  • Place of Presentation: The Hong Kong Polytechnic University, Hong Kong, China
  • Year and Date: 2011-12-05
• [Presentation] Motion Control of a Flexible Robotic Arm by Utilizing Its Dynamics (2011)
  • Author(s): Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA , Yohei HOSHINO and Takarori EMARU
  • Organizer: Proceedings of the 14th Asia Pacific Vibration Conference
  • Place of Presentation: The Hong KongPolytechnic University, Hong Kong, China