| Project/Area Number |
24760191
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
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| Research Institution | Fukuoka University |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
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| Keywords | マルチボディダイナミクス / 弾性体 / 最適制御 / リカーシブ法 / 柔軟マニピュレータ |
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| Research Abstract |
In this investigation, a general purpose optimal control algorithm (optimal trajectory planning algorithm) for flexible multibody systems that consist of interconnected elastic bodies, such as flexible link manipulators and flexible space structures, is developed. The proposed algorithm is built by combining the newly developed recursive dynamics algorithms, sensitivity analysis algorithm, and previously developed robust optimal control algorithm called a hierarchical gradient method. The proposed algorithm is verified through both numerical simulation and experiment of a flexible link manipulator. Furthermore, general purpose software is developed based on the proposed optimal control algorithm.
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