Grant-in-Aid for Scientific Research (B)
|Allocation Type||Single-year Grants |
Intelligent mechanics/Mechanical systems
|Research Institution||Ritsumeikan University |
KAWAMURA Sadao Ritsumeikan Univ., Fac.Science and Engineering, Professor, 理工学部, 教授 (20186141)
ICHII Hiroaki Nara National College of Technology, Department of Control Engineering, Assistant, 助手 (40300602)
KINO Hitoshi Fukuoka Institute of Technology, Fac.Scienre and Engineering, Lecturer, 工学部, 講師 (50293816)
ISAKA Tadao Ritsumeikan Univ., Fac.Scienre and Engineering, Assistant Professor, 理工学部, 助教授 (30247811)
|Project Period (FY)
2001 – 2002
Completed (Fiscal Year 2002)
|Budget Amount *help
¥13,800,000 (Direct Cost: ¥13,800,000)
Fiscal Year 2002: ¥4,800,000 (Direct Cost: ¥4,800,000)
Fiscal Year 2001: ¥9,000,000 (Direct Cost: ¥9,000,000)
|Keywords||Underwater motions / Iterative learning control / Time scale transformation / Joint toraue / Parallel wire driven system|
In this research, we propose a new method of dynamics analysis on joint torques of human arms and robot manipulators in underwater environments without parameter estimation. The research results are summarized as follow:
 Iterative learning control for underwater robot manipulators
The effectiveness of iterative learning control was verified theoretically and experimentally. The single and three degrees of freedom underwater manipulators were utilized in the experiments. As a result, the, motion of the robots in the water was realized as precisely as that in the air.
 Dynamics analysis on underwater robot manipulators based on learning control and time-scale transformation
In the proposed method, hydrodynamic terms such as added mass and drag and buoyancy were quantitatively evaluated without using parameter identification. Dynamics analysis on the single and three degrees of freedom manipulators was realized experimentally. The feedforward inputs for the manipulator control were for
med from the method.
 Measurement of joint torques of human motions using parallel wire driven systems
We developed a parallel wire driven system for the measurements of joint torque of human motions. By using the system, the joint torque was precisely measured and the maximum error is within 0.2[Nm].
 Iterative learning control for parallel wire driven systems
The effectiveness of iterative learning control for parallel wire driven systems was verified theoretically and experimentally. Numerical simulations and experimental results showed the effects of the control performance.
 Measurements of joint torques for arbitrary human motions
Measurements of joint torques for arbitrary human motions were realized by the proposed method based on the parallel wire driven system and the iterative learning control. The validity was verified by some experiments.
 Measurement of joint torques of human motions in underwater environment using parallel wire driven systems
Measurements of joint torques for human motions in underwater environments were realized by the method based on the parallel-wire driven system and iterative learning control. In the method, hydrodynamic torques such as added mass and drag and buoyancy acting on human arms were quantitatively evaluated. Less