2000 Fiscal Year Annual Research Report

浮遊型宇宙ロボットの自律分散制御に関する研究

Research Project

Project/Area Number	10650245
Research Institution	Kyushu Institute of Technology
Principal Investigator	加藤了三九州工業大学, 工学部・機械知能工学科, 教授 (20148761)
Co-Investigator(Kenkyū-buntansha)	相良慎一九州工業大学, 工学部・機械知能工学科, 助教授 (50235199)
Keywords	宇宙ロボットマニピュレータ / 自律分散制御 / 分解速度制御 / パラメータ推定機構
Research Abstract	宇宙時代を迎え,従来以上に宇宙ロボットにかけられる期待には大きなものがある.ところで,マニピュレータを有する宇宙ロボットが活動する状況を考えると,本体が大きく重いロボットであれば,その特性は地上用のロボットとさほど変わるところはないが,そうでない場合,マニピュレータの運動に伴いロボット本体の姿勢・位置が大きく変化し,宇宙ロボットに固有の特性が現れる.この特性を補う手法として,大きなロボットを用いる方法と小型の宇宙ロボットを複数台使用する方法が考えられる.前者は,打ち上げロケットの制限から実現が難しいのに反して,後者は実用的である.しかし,この場合,ロボットの台数によりシステム方程式が変化するため,状況は非常に複雑になる.本研究では, (1)ロボットの台数に依存しない制御アルゴリズムを確立する. (2)ロボットの台数により,演算時間が大きく変化しないアルゴリズムを構築する. という基本概念の下で,浮遊型宇宙ロボットマニピュレータの自律分散制御に関する研究を行った.本研究で行った具体的なサブテーマは,以下のとおりである. (1)複数台の宇宙ロボットによる協調制御 (2)転置一般化ヤコビ行列を用いた宇宙ロボットの制御 (3)水中ロボットの制御 (4)ロボットの制御に関する研究サブテーマ(1)は本研究の中心的な研究で,サブテーマ(2)は,宇宙マニピュレータの特異姿勢を回避し,演算時間を短縮する方法である.サブテーマ(3)は宇宙ロボットの制御の研究で培った知識を,より困難な水中ロボットの制御に展開しようとするものであり,サブテーマ(4)は,より高度なマニピュレータの制御を実現するための基礎研究である.本研究のほとんどは,理論展開に加え,模擬実験を伴う研究であり,ここで得られた結果は,今後の宇宙ロボットの開発に貴重なデータを与えるものである. これらの基礎的成果を統合し,ロボット・マニピュレータの作業能力をいっそう高める研究を今後計画したいと考えている.

Research Products
(20 results)

All Other

All Publications (20 results)

[Publications] J.Kobayashi,F.Ohkawa and R.Katoh: "Analysis of a Workspace and a Manipulability Measure in Operations by Two Space Robots"Proc.of 8th Workshop on Astrodynamics and Flight Mechanics. 101-106 (1998)
[Publications] S.Sagara,T.Unno,Y.Taira and R.Katoh: "Digital Sensory Feedback Control for Space Manipulators"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics. 249-254 (1998)
[Publications] R.Katoh,M.Shen,S.Sagara,J.Kobayashi and F.Ohkawa: "Cooperative Manipulation of a Floating Object by Some Space Robots with Manipulator : Characteristics as a Distributed System"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics,. 261-266 (1998)
[Publications] S.Sagara,Y.Taira,R.Katoh,T.Yamashita,F.Ohkawa and T.Suehiro: "Digital Adaptive Control of Space Manipulator Having Input Constraints"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1449-1454 (1998)
[Publications] S.Sagara,M.Hideura,R.Katoh,T.Yamashita,J.Kobayashi and F.Ohkawa : : "Adaptive RMRC for Cooperative Manipulation of a Floating Object by Two Free-Based Space Robots"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1467-1472 (1998)
[Publications] 小林順,加藤了三,大川不二夫: "複数台の宇宙ロボットによる浮遊物体の制御"日本機械学会論文集C編. 64巻,628号. 4710-4716 (1998)
[Publications] M.Oya,R.Katoh,S.Sagara,F.Ohkawa and T.Suehiro: "Non-Regressor Based Adaptive Control of Rigid-Link Electrically-Driven Robot Manipulators"Proc.of 3rd Int.Conf.on Industrial Automation. 8.1-8.4 (1999)
[Publications] J.Kobayashi,M.Shen,F.Ohkawa and R.Katoh: "Manipulation of a Floating Object by Several Space Robots・Case of Parallel System"Proc.of 9th Workshop on Astrodynamics and Flight Mechanics. 247-252 (1299)
[Publications] S.Sagara,T.Tanikawa,M.Tamura and R.Katoh: "Experiments of a Floating Underwater Robot with 2 Link Manipulator"Proc.of 5th Int.Symp.on Artificial Life and Robotics. 367-370 (2000)
[Publications] R.Lai,T.Kobayashi,F.Ohkawa,and R.Katoh: "Control of Robot Manipulators without Gravity Compensation"Proc.of 4^<th> Asia-Pacific Conf.On Control and Measurement. 247-250 (2000)
[Publications] Y.Taira,S.Sagara and R.Katoh: "Discrete-time Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix,"Proc.of 10th Workshop on Astrodynamics and Flight Mechanics. (2000)
[Publications] Y.Taira,S.Sagara and R.Katoh: "Digital Kinematic Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 26th IEEE Int.Conf.on Industrial Electronics, Control and Instrumentation (IECON-2000). 596-601 (2000)
[Publications] Y.Taira,S.Sagara and R.Katoh: "Digital Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 2000 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2000). (CD-ROM). 6 (2000)
[Publications] C-Y.Su,M.Oya,R.Katoh and H.Han: "Stabilization and Force Control of Uncertain Nonholonomic Mechanical Systems Via Sliding Mode Control"Proc.of 6th IEEE Int.Workshop on Variable Structure Systems. 157-166 (2000)
[Publications] S.Sagara,T.Danjoh,M.Tamura,R.Katoh: "Resolved Motion Rate Control of a Free-Floating Underwater Robot with Horizontal Planar 2-Link Manipulator"Proc.of 6th Int.Symp.on Artificail Life and Robotics. 113-116 (2001)
[Publications] T.Tamura,S.Sagara,R.Katoh: "Control of Manipulator Mounted on Floating Underwater Robot while Maintaining Vehicle Attitude"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 121-125 (2001)
[Publications] M.Wada,M.Oya,R.Katoh and H.Honda: "A Simple Robust Tracking Controller for Robot Manipulators Using Only Joint Position Measurements"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 443-446 (2001)
[Publications] 平雄一郎,相良慎一,加藤了三: "転置一般化ヤコビ行列を用いた宇宙ロボットのディジタル制御"日本機械学会論文集C編. Vol.66,No.[].. 6 (2000)
[Publications] 加藤了三,相良慎一: "九州工大VBLにおけるロボット研究"日本ロボット学会誌. Vol.19,No.2. 175-180 (2001)
[Publications] J.Kobayashi,R.Katoh,and F.Ohkawa: "Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilityies"Journal of Robotics and Mechanics. (印刷中).

2000 Fiscal Year Annual Research Report

浮遊型宇宙ロボットの自律分散制御に関する研究

Principal Investigator

加藤 了三 九州工業大学, 工学部・機械知能工学科, 教授 (20148761)

Research Products

[Publications] J.Kobayashi,F.Ohkawa and R.Katoh: "Analysis of a Workspace and a Manipulability Measure in Operations by Two Space Robots"Proc.of 8th Workshop on Astrodynamics and Flight Mechanics. 101-106 (1998)

[Publications] S.Sagara,T.Unno,Y.Taira and R.Katoh: "Digital Sensory Feedback Control for Space Manipulators"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics. 249-254 (1998)

[Publications] R.Katoh,M.Shen,S.Sagara,J.Kobayashi and F.Ohkawa: "Cooperative Manipulation of a Floating Object by Some Space Robots with Manipulator : Characteristics as a Distributed System"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics,. 261-266 (1998)

[Publications] S.Sagara,Y.Taira,R.Katoh,T.Yamashita,F.Ohkawa and T.Suehiro: "Digital Adaptive Control of Space Manipulator Having Input Constraints"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1449-1454 (1998)

[Publications] S.Sagara,M.Hideura,R.Katoh,T.Yamashita,J.Kobayashi and F.Ohkawa : : "Adaptive RMRC for Cooperative Manipulation of a Floating Object by Two Free-Based Space Robots"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1467-1472 (1998)

[Publications] 小林順,加藤了三,大川不二夫: "複数台の宇宙ロボットによる浮遊物体の制御"日本機械学会論文集C編. 64巻,628号. 4710-4716 (1998)

[Publications] M.Oya,R.Katoh,S.Sagara,F.Ohkawa and T.Suehiro: "Non-Regressor Based Adaptive Control of Rigid-Link Electrically-Driven Robot Manipulators"Proc.of 3rd Int.Conf.on Industrial Automation. 8.1-8.4 (1999)

[Publications] J.Kobayashi,M.Shen,F.Ohkawa and R.Katoh: "Manipulation of a Floating Object by Several Space Robots・Case of Parallel System"Proc.of 9th Workshop on Astrodynamics and Flight Mechanics. 247-252 (1299)

[Publications] S.Sagara,T.Tanikawa,M.Tamura and R.Katoh: "Experiments of a Floating Underwater Robot with 2 Link Manipulator"Proc.of 5th Int.Symp.on Artificial Life and Robotics. 367-370 (2000)

[Publications] R.Lai,T.Kobayashi,F.Ohkawa,and R.Katoh: "Control of Robot Manipulators without Gravity Compensation"Proc.of 4^<th> Asia-Pacific Conf.On Control and Measurement. 247-250 (2000)

[Publications] Y.Taira,S.Sagara and R.Katoh: "Discrete-time Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix,"Proc.of 10th Workshop on Astrodynamics and Flight Mechanics. (2000)

[Publications] Y.Taira,S.Sagara and R.Katoh: "Digital Kinematic Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 26th IEEE Int.Conf.on Industrial Electronics, Control and Instrumentation (IECON-2000). 596-601 (2000)

[Publications] Y.Taira,S.Sagara and R.Katoh: "Digital Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 2000 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2000). (CD-ROM). 6 (2000)

[Publications] C-Y.Su,M.Oya,R.Katoh and H.Han: "Stabilization and Force Control of Uncertain Nonholonomic Mechanical Systems Via Sliding Mode Control"Proc.of 6th IEEE Int.Workshop on Variable Structure Systems. 157-166 (2000)

[Publications] S.Sagara,T.Danjoh,M.Tamura,R.Katoh: "Resolved Motion Rate Control of a Free-Floating Underwater Robot with Horizontal Planar 2-Link Manipulator"Proc.of 6th Int.Symp.on Artificail Life and Robotics. 113-116 (2001)

[Publications] T.Tamura,S.Sagara,R.Katoh: "Control of Manipulator Mounted on Floating Underwater Robot while Maintaining Vehicle Attitude"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 121-125 (2001)

[Publications] M.Wada,M.Oya,R.Katoh and H.Honda: "A Simple Robust Tracking Controller for Robot Manipulators Using Only Joint Position Measurements"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 443-446 (2001)

[Publications] 平雄一郎,相良慎一,加藤了三: "転置一般化ヤコビ行列を用いた宇宙ロボットのディジタル制御"日本機械学会論文集C編. Vol.66,No.[].. 6 (2000)

[Publications] 加藤了三,相良慎一: "九州工大VBLにおけるロボット研究"日本ロボット学会誌. Vol.19,No.2. 175-180 (2001)

[Publications] J.Kobayashi,R.Katoh,and F.Ohkawa: "Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilityies"Journal of Robotics and Mechanics. (印刷中).

加藤了三九州工業大学, 工学部・機械知能工学科, 教授 (20148761)