1998 Fiscal Year Final Research Report Summary
Modelng and Controller Design for Teleoperation of Master-Slowe Flexible Arms
| Project/Area Number |
09650266
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | TOKYO INSTITUTE OF TECHNOLOGY |
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Principal Investigator |
MATSUNO Fumitoshi Tokyo Institute of Technology, Interlisciplinary Graduate School of Science & Engineering Associate Professor, 大学院・総合理工学研究科, 助教授 (00190489)
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| Co-Investigator(Kenkyū-buntansha) |
HARA Shinji Tokyo Institute of Technology, Interlisciplinary Graduate School of Science & En, 大学院・総合理工学研究科, 教授 (80134972)
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| Project Period (FY) |
1997 – 1998
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| Keywords | Flexible arm / Distributed parameter model / PDS control / Lyapunou method / Inrariamce prmciple / Differemtiol operator analysis |
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| Research Abstract |
I.Theoretical results
1. PDS Feedback Control Law
We proposed PDS controller, being the proportional, derivative and strain feedback, on the basis of distributed parameter model of flexible arms and structures. We introduce a Lyapunov function related to the total energy of the distributed parameter system and derive a simple output feedback control law of PDS controller. Using the Lyapunov method and the invariance principle the asymptotic stability of the closed-loop distributed parameter system is proven, As the PDS controller is a static feedback controller using the joint angle(P), the angular velocity (D) and the strain (S) data, this controller admits simple implementation.
2. Robust .Force Control
We proposed robust force control law for constrained flexible arms and robust cooperative control law for multiple flexible arms on the basis of distributed parameter model.
II.Experimental results
1. PDS Feedback Control
1. Flexible structures with lumped and distributed flexibility
2. Flexible structures with closed-loop mechanism
2. Robust Force Control
1. Constrained flexible arms
2. Cooperative two two-link flexible arms
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