2009 Fiscal Year Final Research Report
Passivity based control and design of hydraulic robot manipulators
| Project/Area Number |
19760148
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Dynamics/Control
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| Research Institution | Chiba University |
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Principal Investigator |
SAKAI Satoru Chiba University, 大学院・工学研究科, 助教 (90400811)
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| Project Period (FY) |
2007 – 2009
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| Keywords | 油圧ロボット / 非線形制御 / モデリング / 機構設計 / ロバスト制御 / ハミルトン系 / 受動性 / 構造可変ロボット |
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| Research Abstract |
Passivity based control and design of hydraulic robot manipulators are studied theoretically and experimentally. 1) The continuity law is generalized as a new dynamic constitutive law in order to derive a new canonical expression for hydraulic robot manipulators. 2) A new standard experimental setup is proposed to switch between open link and closed link and also to select joint-interferences such as centrifugal/Coriolis effects. 3) A new passivity based dynamic controls are proposed to achieve disturbance rejection, adaptive stabilization and output feedback stabilization.
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