2013 Fiscal Year Final Research Report
A novel control technique of underactuated flexible manipulators for realizing significant energy saving
| Project/Area Number |
23560274
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Asahikawa National College of Technology |
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Principal Investigator |
ABE Akira 旭川工業高等専門学校, システム制御情報工学科, 教授 (30313729)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 軌道計画法 / 省エネルギー / 劣駆動マニピュレータ / 運動生成 |
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| Research Abstract |
In this study, we attempt to establish an energy saving driving method for the underactuated manipulator consisting of one actuated rigid link and one unactuated flexible link. The unactuated joint contains a braking mechanism. We propose a minimum energy trajectory planning method with inducing large residual vibration of the flexible link for the actuated joint when the unactuated joint is fixed by the brake. The rigid link is driven along the obtained optimal trajectory, and then the motion of the unactuated joint can be generated by releasing the brake. We reveal that the proposed method attains the energy saving in comparison of a cycloidal motion from experiments.
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