2009 Fiscal Year Final Research Report
An Extension of Resonance to Multi-Joint Robots with Adaptive Control Methods
| Project/Area Number |
20860077
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| Research Category |
Grant-in-Aid for Young Scientists (Start-up)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
UEMURA Mitsunori Ritsumeikan University, 理工学部, 助教 (00512443)
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| Project Period (FY) |
2008 – 2009
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| Keywords | 共振 / 多関節ロボット / 非線形ダイナミクス / 剛性制御 / 適応制御 / 安定性解析 |
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| Research Abstract |
This study proposed and formulated resonance for multi-joint structures. We made clear that some important characteristics of conventional resonance hold for new resonance, and new resonance is a natural extension of conventional resonance. Next, we proposed adaptive control methods based on new resonance. Advantages of the proposed control methods are to work well without using exact parameter values of the multi-joint structures nor huge numerical calculations. We mathematically prove global stability of the controlled systems. Applications of this study are walking support systems, energy saving industrial robots, and so on.
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