Bilateral Control and Iterative Learning Control for Two-degree-of-freedom Robot Manipulators with Antagonistic Bi-articular Muscles
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 |
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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.
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Report
(4 results)
Research Products
(3 results)