1990 Fiscal Year Final Research Report Summary
Dynamics and Control of Robotic Manipulation
| Project/Area Number |
63550192
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
YAMASHITA Tadashi Kyushu Institute of Technology Faculty of Engineering Professor, 工学部, 教授 (50039070)
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| Co-Investigator(Kenkyū-buntansha) |
KATOH Ryozo Kyushu Institute of Technology Faculty of Engineering Associate Professor, 工学部, 助教授 (20148761)
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| Project Period (FY) |
1988 – 1990
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| Keywords | Robot Manipulation / Manipulation Dynamics / Fuzzy Control Experimentation / Force Control / Sliding Mode Control / Control of Peg into Hole / Remote Manipulation / Robotic Hand |
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| Research Abstract |
The object of this project is to increase the manipulative capabilities of robotic systems so that they can be applied to various fields demanding higher functions beyond those possessed by industrial robots of present conventional type. The following three subjects were studied during the research period : Control of basic operations in the manipulation ; aiding methods for remote manipulations ; application of manipulation concepts to locomotion. Main results of each subject are the following.
1. Control of Manipulation Fuzzy control and sliding mode control were applied to generate a specified grasping force. In the fuzzy control experiment, both direct and indirect reasoning gave satisfactory results by proper tuning of controller parameters in experiments done by a commercially available sliding robot. An effectiveness of a learning algorithm to adjust the parameter values was demonstrated, too. In the sliding mode control experiments a new type of a finger mechanism actuated by rubber artificial muscles used. The dynamic characteristics of the mechanism were determined experimentally. Results of control experiments were fair. The following experiments were, also, carried out : an adaptive control of a flexible arm ; hybrid control of inserting a peg into hole.
2. Operator Aiding in Remote Manipulation Experiments were done by using a simulator by ourselves. Effectiveness of aids by computer in the final approaching stage to an object were shown : decrease of both misoperation and task time.
3. Unified Approach to Manipulation and Locomotion The concept of manipulability that is an effective measure of the mobility capability of a manipulator was successfully applied to explain the transient characteristics of the body motion in the initial stage of the human walking. The present resech trend related to the unified approach.
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