Differential-Inclusion-Based Implementation of Force Control Schemes for Realizing Whole-Body Maneuverable Power-Magnifying Robots
| Project/Area Number |
24360098
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
KIKUUWE Ryo 九州大学, 工学(系)研究科(研究院), 准教授 (90362326)
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| Co-Investigator(Kenkyū-buntansha) |
KANAOKA Katsuya 立命館大学, 総合科学技術研究機構, チェアプロフェッサー (90360247)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥19,240,000 (Direct Cost: ¥14,800,000、Indirect Cost: ¥4,440,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2012: ¥13,780,000 (Direct Cost: ¥10,600,000、Indirect Cost: ¥3,180,000)
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| Keywords | マスタスレーブシステム / 微分包含式 / 力制御 / 力順送型マスタスレーブ / アドミッタンス制御 / ロボット / 摩擦補償 / パワー拡大 / 力順送型マスタスレープ / スライディングモード制御 / スライディングモードフィルタ / ノイズフィルタ / 位相進み / 摩擦モデル |
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| Outline of Final Research Achievements |
It has been a classical approach to treat the force as the controlled variables and the manipulated variables in the field of control engineering studies in academia. Techniques developed based on such an approach, however, are sensitive to hardware imperfections such as compliance, friction, dead time, noise, and torque saturation. This project aimed to combine a new family of control/estimation theories based on discontinuous differential equations (differential inclusions) and classical studies of force control in the academia to construct a new family of force control techniques that are robust against the restrictions of real hardware. In particular, setting the realization of heavy-duty manual control robots as a long-term goal, this project has developed a variety of elemental technology for control, signal processing and mechanism design.
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Report
(4 results)
Research Products
(34 results)
