RESEARCH ON MOTION ANALYSIS SYSTEM FOR 3DIMENSIONAL SPACE ROBOT USING PERSONAL COMPUTER NETWORK
Project/Area Number 
13650260

Research Category 
GrantinAid for Scientific Research (C)

Allocation Type  Singleyear Grants 
Section  一般 
Research Field 
Dynamics/Control

Research Institution  KANTO GAKUIN UNIVERSITY 
Principal Investigator 
KOMATSU Tadashi THE COLLEGE OF ENGINEERING, THE DEPARTMENT OF MECHANICAL ENGINEERING, PROFESSOR, 工学部, 教授 (80267525)

Project Period (FY) 
2001 – 2002

Project Status 
Completed (Fiscal Year 2002)

Budget Amount *help 
¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2002: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2001: ¥2,000,000 (Direct Cost: ¥2,000,000)

Keywords  Robotics / Space Robotics / Manipulator / Dynamics / Simulator / Network / Linux / Distributed Processing / 柔軟マニピュレータ / Linux / 並列処理 
Research Abstract 
In this research, we have studied a space robot simulator for threedimensional motion using several personal computers connected by LAN. This simulator had same performance and realized to reduce its cost comparing conventional simulators using a UNIX machine. First of all, we developed nonrecursive Lagrange equations with order N for threedimensional flexible space robot, where N denotes the number of robot bodies. These equations play very important role in parallel computing system with personal computers, because they reduce calculation times of equations of motion. Moreover, nonrecursive equations can be separated to an equation for each body. It means that each body's equation can be calculated by parallel processing at the same time. Next, we constructed parallel processing system. We considered a space robot system in an orbit, which consists of a space platform and a twolink manipulator. The number of bodies is three. We used one personal computer for the server and three computers for clients. One client calculates one body's equation. First of all, each client calculates nonlinear terms and control torque in equations. These results are sent to the server. The server calculates each angular acceleration by multiplying an inverse mass matrix and sent them to each client. Then, angle and angular velocity of a robot are calculated. These are calculation sequence in one cycle. We confirmed that this simulator realized same calculation time and the accuracy comparing with conventional simulator using one UNIX machine. On the other hand, the price of the system became one fifth of the UNIX machine. We used Linux for OS.

Report
(3 results)
Research Products
(13 results)