2017 Fiscal Year Final Research Report
Design of Reliable Bilateral Control System over STDMA Based Network
| Project/Area Number |
15H05529
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Mie University |
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Principal Investigator |
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| Research Collaborator |
KOMADA Satoshi 三重大学, 大学院工学研究科, 教授 (10215387)
YUBAI Kazuhiro 三重大学, 大学院工学研究科, 准教授 (10324542)
YAKOH Takahiro 慶應義塾大学, 理工学部, 准教授 (20286652)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Keywords | ロボティクス / 有線通信方式 / 制御理論 / 信号処理 / 運動学 / 動力学 / 人間機械システム / 電気機器 |
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| Outline of Final Research Achievements |
Following knowledge related to bilateral control system over STDMA(Synchronous Time Division Multiple Access) switches is obtained: 1) Because dynamics of a bilateral control system depends on a stiffness of a contact object, an adaptive controller using an estimated stiffness is effective. 2) Assume that a robot has more than two active joints, then control performance depends on a coordinate system where the adaptive controller is implemented. 3) Because control performance of a feedback control system over STDMA switches depends on a switching pattern, a switching pattern should be optimized based on an objective function and a network topology.
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| Free Research Field |
モーションコントロール
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