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1990 Fiscal Year Final Research Report Summary

Dynamics and Control of Robotic Manipulation

Research Project

Project/Area Number 63550192
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionKyushu Institute of Technology

Principal Investigator

YAMASHITA Tadashi  Kyushu Institute of Technology Faculty of Engineering Professor, 工学部, 教授 (50039070)

Co-Investigator(Kenkyū-buntansha) KATOH Ryozo  Kyushu Institute of Technology Faculty of Engineering Associate Professor, 工学部, 助教授 (20148761)
Project Period (FY) 1988 – 1990
KeywordsRobot Manipulation / Manipulation Dynamics / Fuzzy Control Experimentation / Force Control / Sliding Mode Control / Control of Peg into Hole / Remote Manipulation / Robotic Hand
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.

  • Research Products

    (10 results)

All Other

All Publications (10 results)

  • [Publications] 山下 忠: "ロボットによるマニピユレ-シヨンとロコモ-シヨン" システム/制御/情報. 33. 59-66 (1989)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Furuya: "Supervised Robot System and Manual Teleoperation with Computer Aids" Proc.Eighth European Annual Conf.on Human Decision Making and Manual Control. 144-157 (1989)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 末広 利範: "MRACSを適用したフレキシブルア-ムの位置決めおよびカフィ-ドバック制御" 日本機械学会論文集(C編). 55. 2553-2558 (1989)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山下 忠: "コンピユ-タ支援遠隔操作のーシミユレーシヨン実験:操作性向上の評価" 日本ロボット学会誌. 8. 188-196 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 田川 善彦: "2足歩行の開始特性の可操作性による解析" 日本機械学会論文集(C編). 56. 1444-1448 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T. Yamashita: "Robotic manipulation and Locomotion" Systems, Control and Information. Vol. 33, No. 2. 59-66 (1989)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T. Furuya: "Supervised Robot System and Manual Tele operation with Computer Aids" Proc. Eighth European Annual Conf. on Human Decision Making and Manual Control. 144-157 (1989)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T. Suehiro: "Positioning Control and Force Feedback Control of a Flexible Arm Applying a MRACS" Trans. JSME (Series C). Vol. 55, No. 518. 2553-2558 (1989)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T. Yamahita: "A Simulation Study of Computer Aided Teleoperation : Evaluation of Enhanced Manipulability" J. Robotic Society Japan. Vol. 8, No. 2. 188-196 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y. Tagawa: "Analysis of Starting Characteristics of Bipedal Walking by Manipulatability" Trans. JSME (Series C). Vol. 56, No. 526. 1444-1448 (1990)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1993-08-12  

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