2022 Fiscal Year Final Research Report
Robot manipulability: Revisited
| Project/Area Number |
20K04393
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Hirosaki University |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | ロボット / 制御しやすさ / 制御 |
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| Outline of Final Research Achievements |
In this research, I show some control properties of the servosphere and the rimless wheel robot. For the servosphere, I found an optimal motor location that maximizes a manipulability index and reduces vibrations. In an optimization problem of some design parameters for the rimless wheel robot, I found that the relationship between the maximum steady speed and the wheel radius is concave for the rimless wheel robot, but is linear for the rimmed wheel robot.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
ロボットを含む制御システムにおいては，制御のしやすさが構造や姿勢に依存する．これまでロボット設計における制御のしやすさの判定には，可制御性と呼ばれる指標が用いられてきた．本研究課題は，従来使用されてきた可制御性のみでは判定できない構造特性が存在することを明らかにしている．本研究課題の成果は，ロボット開発において，制御しやすい，すなわち，より少ないエネルギーで動作可能な構造や，より機敏に動作可能な構造の選定に役立つ．
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