2003 Fiscal Year Final Research Report Summary
Dynamics based control of flexible multi-body systems and hyper-redundant systems with nonholonomic coustrant
| Project/Area Number |
14550210
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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 | The University of Electro-Communications (2003)
Tokyo Institute of Technology (2002) |
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Principal Investigator |
MATSUNO Fumitoshi The University of Electro-Communications, Faculty of Electro-communications, Professor, 電気通信学部, 教授 (00190489)
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| Project Period (FY) |
2002 – 2003
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| Keywords | nonholonamic constraint / flexible multi-body system / Distributed parameter system / dynamics based control / experiment |
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| Research Abstract |
In this research, dynamics-based control strategies for flexible multi-body systems and hyper-redundant systems have been developed. Proportional derivative and strain boundary feedback control (PDS control) of a flexible space structure with a closed-loop chain mechanism is derived. Asymptotic stability of the closed-loop distributed parameter system is proved by applying the operator theory
As an example of hyper-redundant systems a snake-like robot has been discussed
The model of it is expressed as a hyper-redundant system with nonholonomic velocity constraint
A controller for 3D snake-like robot that can accomplish several tasks by using redundancy is derived
Experimental validation was carried out
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