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2012 Fiscal Year Final Research Report

Study on Control System and Robot Structure of Advanced Composites

Research Project

  • PDF
Project/Area Number 22560215
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionHokkaido University

Principal Investigator

KOBAYASHI Yukinori  北海道大学, 大学院・工学研究院, 教授 (10186778)

Co-Investigator(Renkei-kenkyūsha) EMARU Takanori  北海道大学, 大学院・工学研究院, 准教授 (30440952)
HOSHINO Yohei  北海道大学, 大学院・工学研究院, 助教 (90374579)
Project Period (FY) 2010 – 2012
Keywords制御工学 / ロボット工学 / 複合材料
Research Abstract

A robot arm made of composite material has been developed and the nonlinear model for the ball-throwing motion has been derived. Simultaneous optimization of input torque pattern and structure parameters has been analyzed by means of the soft computing approaches. Availability of the proposed thechnique and the highly effective performance of the robot arm have been confirmed by pursuing simulation and experiments

  • Research Products

    (4 results)

All 2013 2012 2011

All Presentation (4 results)

  • [Presentation] Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm2013

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINOand Takarori EMARU
    • Organizer
      Proceedings of the International Conference on Mechatronics and Robotics (ICMR2013)
    • Place of Presentation
      Holliday Inn London-Wenbley, United Kingdom
    • Year and Date
      20130708-201307019
  • [Presentation] 柔軟ロボットアームによる高効率投球動作に関する研究2012

    • Author(s)
      山川量平,小林幸徳,蓋軼之,星野洋平,江丸貴星野洋平(HOSHINO YOHEI)
    • Organizer
      第13回計測自動制御学会システムインテグレーション部門講演会論文集(DVD-ROM)
    • Place of Presentation
      福岡国際会議場,福岡市
    • Year and Date
      20121218-1220
  • [Presentation] Motion Contorl of a Ball Throwing Robot with a Flexible Robotic Arm2012

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA , Yohei HOSHINO and Takarori EMARU
    • Organizer
      Proceedings of the 16th International Conference on Mechatronics Technology
    • Place of Presentation
      Holliday Inn Tianjin Riverside, Tianjin,China
    • Year and Date
      20121016-1019
  • [Presentation] Motion Control of a Flexible Robotic Arm by Utilizing Its Dynamics2011

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA , Yohei HOSHINO and Takarori EMARU
    • Organizer
      Proceedings of the 14th Asia Pacific Vibration Conference
    • Place of Presentation
      The Hong KongPolytechnic University, Hong Kong, China
    • Year and Date
      20111205-1208

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Published: 2014-08-29  

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