| Project/Area Number |
24760202
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | University of Toyama |
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Principal Investigator |
Sekimoto Masahiro 富山大学, 大学院理工学研究部(工学), 講師 (40454516)
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| Project Period (FY) |
2012-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Keywords | ロボットアーム / 自由度 / 制御 / 接触 / 適応 / ロボティクス / マニピュレーション / 人間機械協調システム / 冗長自由度 / 作業座標制御 / 外力作用 / 関節粘性 / 運動制御 / 作業座標フィードバック制御 / 倣い動作 / 衝突緩衝 / 作業座標フィードバック / 遠隔作業 / 作業座標フィードック制御 |
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| Outline of Final Research Achievements |
In control of multi-joint robots, redundant degrees of freedom which are derived by task-space feedback control possess a property that the state transits along external forces in energy dissipation. We analyzed the external-force-dissipating property and built and evaluated a motion control methodology combining the potential mechanical function and the task-fulfilled function. The property was formulated in equations of motion of a robot on task variables and their null-space variables. Based on the result, we investigated the task accuracy during external-force dissipative motions in the cases that a motion control method with the external-force dissipation function was incorporated in endpoint manipulations, bilateral tele-operations, and serving tasks. The investigations concluded that the control method allows a robot to adaptively cope with an unexpected external force and continue a task without force sensors.
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