Bilateral Control and Iterative Learning Control for Two-degree-of-freedom Robot Manipulators with Antagonistic Bi-articular Muscles

Research Project

Project/Area Number	25420447
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Control engineering/System engineering
Research Institution	Kanazawa Institute of Technology (2015) Waseda University (2013-2014)
Principal Investigator	Murao Toshiyuki 金沢工業大学, 基礎教育部, 講師 (00447038)
Project Period (FY)	2013-04-01 – 2016-03-31
Project Status	Completed (Fiscal Year 2015)
Budget Amount *help	¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000) Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2014: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000) Fiscal Year 2013: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords	制御工学 / 学習制御 / 二関節筋 / バイラテラル制御 / 機械力学・制御
Outline of Final Research Achievements	This paper investigates iterative learning control and bilateral control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is presented to satisfy a passivity property. Next, we design feedback controls for the bi-articular manipulator based on the passivity. Finally, simulation and experimental results are presented in order to confirm the effectiveness of the proposed iterative learning control law.

Report

(4 results)