|Budget Amount *help
¥7,300,000 (Direct Cost : ¥7,300,000)
Fiscal Year 1999 : ¥800,000 (Direct Cost : ¥800,000)
Fiscal Year 1998 : ¥2,600,000 (Direct Cost : ¥2,600,000)
Fiscal Year 1997 : ¥3,900,000 (Direct Cost : ¥3,900,000)
(1). Firstly, a hybrid control method for a flexible manipulator based on an angular velocity control, which is applicable to curved constraint surfaces, is proposed. Secondly, a transfer function relating joint angular velocity to endpoint velocity is derived through first mode vibrational equation of the mechanism in consideration of deflectional angle feedback term. Thirdly, a feedforward angular velocity input, which reduces not only the vibration of the endpoint velocity responses but also the interference between endpoint axial velocities in task coordinates system, is calculated through above transfer function taking the characteristics of the transfer function into consideration. Finally, hybrid control of a single manipulator and cooperative control of dual manipulators are realized by using above feedforward angular velocity input.
(2). A stable force control law and an optimum approach velocity for a velocity controlled flexible manipulator under impac
t process are proposed. An optimum approach velocity, which improves position responses in tangential direction at impact with rebounding of endpoint, is derived by using first mode vibrational equation of the manipulator.
(B):Shock absorbing hand
(1). A simple shock absorbing mechanism and stable capturing control law which makes no impulsive force responses in capture of moving object is proposed. In order to reduce equivalent values of inertial force and damping force at colliding point of end effector, singular point of mechanism is utilized by stretching a wire between dual fingers.
(2). A dynamic synthesis method of kinetic transmission mechanism between fingers and a DC motor in a shock absorbing end effector which realizes desired force responses in capture of moving object is proposed.