| Project/Area Number |
22760321
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Kyushu University |
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Principal Investigator |
KIKUUWE Ryo 九州大学, 工学研究院, 准教授 (90362326)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 制御理論 / ロボット / 微分包含式 / スライディングモード / フィルタ / 力制御 / 位置制御 / 摩擦 / ノイズフィルター / 接触 / 不連続性 / マニピュレータ / テレオペレーション / 姿勢制御 |
|---|
| Research Abstract |
Differential inclusions, which constitute a certain class of differential equations, have mathematically unique characteristics, but its application to engineering techniques has been problematic. This research project aimed to utilize differential inclusions in engineering applications without loosing their inherent characteristics based on a“differential-algebraic inclusion approximation,"which is a new approximation technique for differential inclusions. The obtained results include robot control techniques that achieve good control performance and safety and filtering techniques that efficiently remove noise from sensor signals.
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