| Project/Area Number |
61460147
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | University of Tokyo |
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Principal Investigator |
HARASHIMA Fumio Institute of Industrial Science University of Tokyo, 生産技術研究所, 教授 (60013116)
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| Co-Investigator(Kenkyū-buntansha) |
KONDOU Seiji Institute of Industrial Scuence University of Tokyo, 生産技術研究所, 助手 (00126062)
HASHIMOTO Hideki Institute of Industrial Science University of Tokyo, 生産技術研究所, 講師 (30183908)
SAKAUCHI Masao Institute of Industrial Science University of Tokyo (BABA,Hiroshi), 生産技術研究所, 助教授 (30107370)
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| Project Period (FY) |
1986 – 1987
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| Project Status |
Completed (Fiscal Year 1987)
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| Budget Amount *help |
¥6,500,000 (Direct Cost: ¥6,500,000)
Fiscal Year 1987: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 1986: ¥3,900,000 (Direct Cost: ¥3,900,000)
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| Keywords | Visual Information / Roblt / Fiexible Arm / Adaptive Control / モーションコントロール |
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| Research Abstract |
This report discusses an adaptive control method for a single-link robotic manipulator whose arm is composed of elastic members. In order to eliminate undesirable vibration caused by its structural flexibility, the deformation of the arm is detected by CCD camera and used as an information for on-line purpose.
Since the transfer function of the flexible arm is nonminimum phase, the adaptive controller is designed based on autorrgressive (AR) model with dead time to avoid unstable pole-zero cancellation. Owing to the adaptive prorerty of the control system, it is confirmed by computer simulation that fast positioning without any overshoot or vibration can be always achieved in spite of parameter change such as payload variation.
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