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1993 Fiscal Year Final Research Report Summary

Motion Planning and Control of Nonholonomic Mechanical Systems

Research Project

Project/Area Number 04452153
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionThe University of Tokyo

Principal Investigator

NAKAMURA Yoshihiko  The University of Tokyo Dept.of Mechano-Informatics Associate Professor, 工学部, 助教授 (20159073)

Co-Investigator(Kenkyū-buntansha) YOSHIMOTO Kenichi  The University of Tokyo Dept.of Mechano-Informatics Professor, 工学部, 教授 (10011074)
Project Period (FY) 1992 – 1993
KeywordsNonholonomic Constraints / Nonlinear Control / Motion Planning / Space Structure / Space Robot / Robotics / Nonintegrable System / Momentum Conservation
Research Abstract

In this project, we studied on Motion Planning and Control Nonholonomic Mechanical Systems. First, we clarified the common mathematical structure of various robotic nonholonomic systems. Then, we established methodologies for utilizing nonholonomy of various robotic systems. The main results of this project are summarized in the following five items :
(1) An efficient computational scheme for the dynamics of space multibody systems was established. Nonintegrability of space underactuated mechanical systems was investigated.
(2) We proposed to build a space multibody structure by connecting bodies with free-joints. A stabilization control of such space multibody structure was established. Such a system is free from elastically induced structural vibration. Reconfigurability of the structure is another advantage. It will be efficiently used for example as a space storage system.
(3) Various problems of robotic systems subject to nonholonomic kinematic constraints were discussed. Tracking control of underwater robotic vehicles, nonholonomic redundancy of a free-flying space robot, approximation of infeasible motion of a free-flying space robot, nonholonomic drift motion of elastic space sturctures were the issues in this category.
(4) Energy-saving control of space robot systems were investigated. It was proposed to utilize the redundancy of control-momentum-gyro to release/store kinetic energy obtained through regeneration.
(5) A nonholonomic manipulator was proposed. This is a revolutionary robotic manipulator that control its N joints with only two motors. Nonlinear control made it possible. Controllability and chained-form transformation were established. Freedback/freedforward control is currently being studied and mechanical design is undergoing.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] R.Mukherjee: "Formulation and efficient computation of inverse dynamics of space robots" IEEE Trans.Robotics and Automation. 8. 400-406 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Nakamura: "Lowering energy consumption of space robot systems through kinetic energy congervation" Proc.1993 IEEE International Conference on Robotics and Automation. 1019-1026 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Nakamura: "Stabilization of the shape of space multibody structure with free joints" Proc.IEEE/RSJ International Conference on Intelligent Robots and Systems. 2095-2101 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Nakamura: "Exploiting nonholonomic redundancy of free-flying space robots" IEEE Trans.Robotics and Automation. 9. 499-506 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Nakamura: "Nonlinear tracking control of autonomous underwater vehicles" Proc.1992 IEEE International Conference on Robotics and Automation. A4-A9 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] O.J.Sordalen: "Design of a nonholonomic manipulator" Proc.1994 IEEE International Conference of Robotics and Automation. (発表予定). (1994)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] R.Mukherjee and Y.Nakamura: "Formulation and efficient computation of inverse dynamics of space robots" IEEE Trans.Robotics and Automation. Vol.8, No.3. 400-406 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Nakamura and S.Ito: "Lowering energy consumption of space robot systems through kinetic energy conservation, Proc." 1993 IEEE International Conference on Robotics and Automation Atlanta, GA. 1019-1026 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Nakamura and R.Iwamoto: "Stabilization of the shape of space multibody structure with free joints, Proc." IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama. 2095-2101 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Nakamura and R.Mukherjee: "Exploiting nonholonomic redundancy of free-flying space robots" IEEE Trans.on Robotics and Automation. Vol.9, No.4. 499-506 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Nakamura and S.Savant: "Nonlinear tracking control of autonomous underwater vehicles" Proc.1992 IEEE International Conference on Robotics and Automation, Nice, France. 1992. A4-A9

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] O.J.Sordalen, Y.Nakamura, and W.J.Chung: "Design of a nonholonomic manipulator" Proc.1994 IEEE International Conference of Robotics and Automation, San Diego, CA.(to appear). (1994)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1995-03-27  

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