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| 1.
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />In this report, first, the nonlinear equations of motion of a horizontal one-link flexible robot arm are obtained by use of the mode functions of a cantilever beam with a mass. Then, the algorithm
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of the desired signal planning of the joint angle for the purpose of the reduction control of residual vibrations of the flexible robot arm is derived by use of the initial and final conditions of the flexural displacement of the flexible link and the constraint conditions of the desired signal of the joint angle during the acceleration and deceleration terms as well as the linearized equation of motion of the flexible robot arm. The rotation control system of the flexible robot arm is constructed with the desired signal planning for the joint angle and the PD controller. Furthermore, the numerical simulations of the rotation control of the flexible robot arm have been carried out, and it is confirmed that the residual vibrations of the flexible robot arm can be effectively reduced by the present desired signal planning for the joint angle.
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| 2.
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小島, 宏行 ; 亀井, 正和 ; 阿久戸, 庸夫
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application/pdf<br />Journal Article<br />In this paper, first, the equations of motion of the horizontal three-link robot arm in contact with an elastic object are derived. Then, the deforming control system of the elastic object by the
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robot arm is proposed. The deforming control system consists of the feedback control of the joint angles, the feedforward control by the robot arm dynamics and the adaptive feedforward control for the compensation control of the unknown elastic object dynamics. The adaptive feedforward control law is constructed by use of the on line parameter identification algorithm based on the least squares method, the zero phase error tracking control theory and the Jacobian matrix of the robot arm. From the numerical simulation rerults and the experimental results, it is confirmed that the control error in the deforming control by use of the present adaptive feedforward control method becomes small rapidly with the passing of time.
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| 3.
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小島, 宏行 ; 板垣, 修 ; 小林, 敏雄
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application/pdf<br />Journal Article<br />In this paper, the equations of motion of the non-contact hold and transfer co
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ntrol system of a spherical magnetic body using a one-pole-type magnetic robot hand system are derived. The robot hand system consists of a two-link robot arm and a one-pole-type magnetic hand. The Iinearized state equation and the linearized output equation of the magnetic robot hand, are derived and the controllability and observability are then clarihed. The non-contact hold control system by the magnetic robot hand is then constructed using H_∞ control based on the normalized coprime factorization method, and the tracking control system of the robot arm is constructed using the disturbance observer. It is confirmed from the experimental results that the non-contact hold and transfer control of the spherical magnetic body can be implemented well using the present control system.
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| 4.
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小島, 宏行 ; 橋本, 敏浩 ; 下山, 禎郎
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application/pdf<br />Journal Article<br />In this paper, a trajectory tracking control method for a flexible wheeled-type mobile robot is described. The flexible mobile robot consists of a wheeled-type mobile mechanism and a flexible
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structure. The flexible structure consists of four flexible beams and a bench. The mobile distance is measured by an encoder. and a laser sensor is utilized to measure the flexural displacement of the flexible structure. Then. the trajectory tracking control system is constructed with the disturbance observer and the feedforward compensation type two-degree-of-freedom control method. Furthermore, the experimental results confirm that the trajectory tracking control of the bench of the flexible mobile robot can be performed successfully by the present control method.
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| 5.
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小島, 宏行 ; 亀井, 正和 ; 和田, 基宏 ; 阿久戸, 庸夫
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application/pdf<br />Journal Article<br />In this report, the position control method using a two-phase induction motor is investigated. The position control system consists of neuro-adaptive control and slip frequency control type vector
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control. The vector control was implemented with an electric current control type PWM inverter and the vector computation algorithm. The experiments were carried out, and the usefulness of the present control method was confirmed. Furthermore, the experimental results by the neuro-adaptive control and the vector control was compared to the experimental results by the two-degree-of-freedom control and the vector control.
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| 6.
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劉, 英男 ; 小島, 宏行
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application/pdf<br />Journal Article<br />This paper describes the automatic design method of a nonlinear stabilizing control system of an inverted pendulum using the genetic algorithm. The nonlinear stabilizing control system presented
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in this paper is a hybrid control system which is constructed of a conventional linear quadratic optimal controller and a nonlinear compensation part. The nonlinear compensation part utilizes the angle and the angular velocity of the inverted pendulum to compensate the nonlinear characteristic of the inverted pendulum. A gene consists of the coefficients of the nonlinear stabilizing control system, and a genetic algorithm with three operators ; reproduction, crossover and mutation, is used to obtain near-optimal coefficients. From the numerical simulation results, it is clarified that the sum of the control error decreases with the increasing generation, and the optimum coefficients of the nonlinear stabilizing control system can be obtained. Therefore, the usefulness of the automatic design method is verified.
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| 7.
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小島, 宏行 ; 木村, 仁次郎 ; 小林, 敏雄
概要:
application/pdf<br />Journal Article<br />In this paper, the magnetic levitation neuro-adaptive control method of a body by use of an electromagnet attached to a vertical robot with a prismatic joint is presented, and the usefulness of the
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present control method is confirmed by experiment and numerical simulation. When the gap between the levitated body and the electromagnet hand varies, an adaptive control method to compensate the nonlinear characteristics of the magnetic attracting force is desirable. The magnetic levitation neuro-adaptive control system consists of a PD feedback control loop and an adaptive mechanism based on a neural network. From the experimental results and the numerical simulation results, it is confirmed that the levitated body can be controlled successfully by the present magnetic levitation neuro-adaptive control method.
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| 8.
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小島, 宏行 ; 張, 敏 ; 松浦, 勉 ; 村上, 岩範 ; 植木, 利明
概要:
application/pdf<br />Journal Article<br />This paper describes the position and force neuro-adaptive control of a two-link flexible robot arm. First, the equation of motion of the flexible robot arm consisting of the first rigid link
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and second flexible link is shown. The end of the second flexible link is constrained by a rgid wall. Second, the position and force neuro-adaptive control system is composed of two-layer neural networks and proportional feedback control loops. Furthermore, from the experimental results and the numerically simulated ones, it is confirmed that the control error of position and force with the neuro-adaptive control is markedly smaller than the control error without the neuro-adaptive control.
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| 9.
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劉, 英男 ; 小島, 宏行 ; 金, 元甲 ; 小林, 敏雄
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application/pdf<br />Journal Article<br />This paper describes the swing-up trajectory learning and motion control of an inverted pendulum control robot based on fuzzy logic. The learning algorithm obtaining the optimal swing-up
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trajectory of the inverted pendulum is constructed based on fuzzy logic. From the experimental results, it is confirmed that the optimal swing-up trajectory can be obtained by the present fuzzy learning algorithm. The swing-up and stabilizing fuzzy control system is constructed with the variable-gain fuzzy logic controller and the velocity feedback loops. Then the experimental results for the swing-up and stabilizing fuzzy control are shown, and the excellent performance of the present fuzzy motion control system is clarified. Furthermore, a numerical simulation has been carried out, and the numerical simulation results agree well with the experimental results.
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| 10.
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小島, 宏行 ; 山口, 晃明 ; 坂本, 賢治
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application/pdf<br />Journal Article<br />This paper describes the control design method and the experimental results of the stabilizing control of a inverted pendulum by a one-link horizontal robot. First, the nonlinear equation
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of motion of the mechanical system consisting of the pendulum and the robot is showed. Then, by applying the optimal regulator theory to the linear equation of motion, the optimal feedback coefficients are derived, and the validity of the control design method are confirmed by the numerical simulation of the stabilizing control of the inverted pendulum. Furthermore, it is showed experimentally that the inverted pendulum can be controlled well by the robot, and the experimental results of the continuous control consisting of the swing-up control and stabilizing control is demonstrated.
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| 11.
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小島, 宏行 ; 三友, 啓之 ; 和田, 祐樹 ; 坂本, 賢治
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application/pdf<br />Journal Article<br />This paper describes a motion control method of a two-link horizontal bar gymnastics robot with passive joint by use of a feedforward control based on the inverse dynamics. The direct current
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servomotor is installed at only the second joint, and the first link is controlled by the coupling forces and the moments between the active and passive joints. The dynamic behavior of the robot is described by the use of a system with two equations of motion. In the design of the control system, first, the feedforward control angle of the first joint is obtained by the numerical simulation with the first equation of motion for the desired second joint angle. Then, the feedforward control torque of the servomotor is computed by applying inverse dynamics to the second equation, and the feedforward control voltage is obtained in consideration of the electric circuit of the servomotor. Furthermore, the experimental results are demonstrated, and the availability of the present motion control method is confirmed.
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| 12.
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小島, 宏行 ; 小山, 清 ; 根津, 紀久雄 ; 坂本, 賢治
概要:
application/pdf<br />Journal Article<br />In this paper, the swing-up control method of a pendulum by a horizontal one-link robot is presented, and the experimental results are demonstrated. In the design of the control systom,
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first, the equations of motion of the mechanical system consisting of the robot and the pendulum are derived. Second, the trajectory planning for the swing-up control of the pendulum is investigated by the numerical simulation about the pendulum. In this trajectory planning, the sinus control command of the joint angle is used. Then, the feedforward control voltage of the servomotor are obtained by applying inverse dynamics to the equation of motion with respect to the robot. Furthermore, it is demonstrated by the experimental results that the pendulum can be swung up by adjusting the amplitudes of the sinus control command of the joint angle that is obtained in trajectory planning.
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| 13.
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小島, 宏行 ; 桑名, 秀晴 ; 疋田, 嘉一 ; 水野, 寿考
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application/pdf<br />Journal Article<br />In a direct-drive robot, motors are directly coupled to the links without reduction gears, and high-grade control performance can be achieved. However, transient vibrations may frequently be
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generated owing to little friction and torque ripple of motors. In this report, the transient vibration characteristics of a horizontal two-link direct-drive robot are investigated theoretically. In the analysis, the torque characteristics are modeled in consideration of the torque ripple and the torque saturation characteristics of direct-drive motors, and the nonlinear state equation of the direct-drive robot is derived in consideration of the bearing elasticity of motors. Numerical simulation is carried out, and the effects of the torque ripple, the torque saturation characteristics and the bearing elasticity of direct-drive motors on the transient vibration characteristics of the direct-drive robot are demonstrated.
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| 14.
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小島, 宏行 ; 根津, 紀久雄 ; 坂本, 賢治 ; 川鍋, 隆 ; 小島, 英男
概要:
application/pdf<br />Journal Article<br />A rapid position control method, to which the feedforward control based on the inverse dynamics is applied, is presented, and the availability is confirmed experimentally and theoretically.
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In the experiment, the linear direct current motor is made with an aluminum coil frame or an acrylic resin frame. Then, it is confirmed that, by the present control method, the moving part of the linear direct current motor can be controlled exactly to the position control command for an arbitrary settling time, without undesirable mechanical vibrations. When the settling time is comparatively long, the wave shape of the control current of the motor is affected mainly by the spring force of the beam. Then, with a decreasing value of the settling time, the inertia force has significant effects on the wave shape of the control current. Furthermore, the numerical simulation results obtained by the finite element method agree well with the experimental results.
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| 15.
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小島, 宏行 ; 植杉, 献 ; 根津, 紀久雄 ; 坂本, 賢治
概要:
application/pdf<br />Journal Article<br />In this study, the mechanical system and the circular path control system of a horizontal two-link robot are constructed by utilizing step motors and harmonic drive gears. The effects of
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the excitation method of the step motors and the shape of the velocity pattern of the circular path control system on the dynamic characteristics are investigated. In the circular path control system, the control pulse generation algorithm to the step motors is constructed by use of inverse kinematics. From the experimental results, it is seen that the circular path control can be achieved with a comparatively high accuracy. Then, it is advisable for stable and fast circular path control without the failure phenomenon of the step motors, to utilize the two-phase excitation method of the step motors and the trapezoidal velocity pattern of the circular path control.
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| 16.
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />In this paper, the finite element modeling of a flexible rotating plate, in consideration of both the bending vibration and the rotating motion, is presented. The frequency responses of the
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system consisting of the flexible rotating plate and the rotating axis with a torsinal spring and damper are investigated. In the finite element modeling of the rotating flexible plate, the element mass matrix of the rectangular plate element modeling of the rotating flexible plate, the element mass matrix of the rectangular plate element modeling of the rotating flexible plate, the element mass matrix of the rectangular plate element is formulated by use of the shape function derived by Melsoh. This element mass matrix, consists of three parts that correspond to the bending vibration, the interaction between the bending vibration and the rotating motion, and the moment of inertia. By using the element mass matrix, the equation of motion is obtained. Furthermore, the effects of the rigidity of the torsional spring on the frequency responses are demonstrated.
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| 17.
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小島, 宏行 ; 田口, 和哉 ; 辻, 浩明
概要:
application/pdf<br />Journal Article<br />When an industrial robot with a power transmission mechanism such as a harmonic drive gear is operated, vibrations resulting from the torque ripple of the power transmission mechanism are
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frequently generated. However, few studies on robot vibration characteristics owing to torque ripples have been reported. In this paper, the vibrations of a horizontal two-link robot are investigated with consideration given to the torque ripple and the nonlinearity of the power transmission mechanism. In the numerical analysis, the torque characteristics are assumed to be the product of the nonlinear function of the torsional angle of the gear teeth and the torque ripple represented by means of the the Fourier series of the rotating angle of the input axis. Numerical simulation is carried out, and the effects of the torque ripple and the nonlinearity on the vibration characteristics of the robot are demonstrated. The experiment also shows that the torque ripple can cause a good deal of vibration.
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| 18.
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小島, 宏行
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application/pdf<br />Journal Article<br />In this paper, first, a finite element formulation method for a horizontal fle
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xible robot arm with two links is presented. In the analysis, the kinetic energy of the flexible arm is represented in brief compared with the previous method, and the matrix equation of motion in consideration of the nonlinear forces, such as the Coriolis force, is derived by the finite element method and the variational theorem. Then, the state equation of the mechatoronics system consisting of the flexible arm and the position control system is obtained. Second, the numerical simulations in the case of applying the path control based on the trapezoidal velocity curve are carried out by use of the Wilson-θ method, and the effects of the bending rigidity and the shape of the trapezoidal velocity curve on the dynamic characteristics of the mechatoronics system are demonstrated.
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| 19.
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小島, 宏行 ; 森平, 明宏 ; 根津, 紀久雄 ; 坂本, 賢治
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application/pdf<br />Journal Article<br />In this report, the nonlinear forced vibration responses of a plate subjected to alternating electromagnetic attractive force are investigated theoretically and experimentally in
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consideration of the superharmonic and the subharmonic vibrations as well as the harmonic one. In the analysis, first, the electromagnetic attractive force is formulated by applying the least squares method to the experimental results. By the use of this formulation, the matrix equation of motion of the plate is obtained by applying the finite element method. Then, the nonlinear simultaneous equations, which decide the superharmonic and the subharmonic vibrations as well as the harmonic one, are derived by the harmonic balance method and the reduced impedence method. The numerical results carried out by the Newton-Raphson method agree well with the experimental results, and the validity of the present analysis is confirmed.
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| 20.
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />When an alternating electromagnetic force is applied to the mechanical vibration system, nonlinear forced vibrations such as superharmonic and subharmonic vibrations are generated owing to the
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nonlinearity of the electromagnetic force. In this report, the analytical method by the finite element method and the harmonic balance method is presented to investigate the nonlinear vibrations of a beam subjected to the alternating electromagnetic force. In the analysis, the equations of motion of the beam are obtained by the finite element method, and the nonlinear matrix equations which decide the force vibration amplitudes are derived in consideration of the second order superharmonic and the one-second order subharmonic by applying the harmonic balance method. Then, the nonlinear matrix equations are reduced, and three simultaneous equations are derived. Furthermore, the numerical results by use of the Newton-Rapson method agree well with the previous numerical results, and the present analytical method is confirmed.
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| 21.
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />In this paper, first, the finite element matrices of the flexible arm with variable section and viscosity are formulated by use of the variational theorem, and the matrix equation of motion
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of the mechanical system consisting of the flexible arm and a joint is derive(:i. Then, the governing matrix equation of the electromechanical system is obtained by coupling the equation of motion of the mechanical system with the electric current equation of the control system, and the dynamic response of the governing matrix equation is solved exactly by the Laplace transformation method. The control system is composed of a direct-current servomotor and a power amplifier as well as a position and velocity feedback circuit. Furthermore, the numerical calculations are carried out, and the effects of the variable cross section and viscosity of the flexible arm upon the dynamic behavior of the electromechanical s stem are demonstrated.
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| 22.
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小島, 宏行 ; 根津, 紀久雄 ; 黒沢, 勝彦
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application/pdf<br />Journal Article<br />Dynamic characteristics of a beam structure with an active electromagnetic damper are investigated by the use of the finite element method and the Laplace transformation. A shock pulse is
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applied to a beam subjected to a camping force by the active electromagnetic damper. In the analysis, first, the governing matrix equations of the coupling system consisting of the beam and the active electromagnetic damper are obtained by the use of the finite element method. Then, the governing matrix equations are transformed into the complex domain by the Laplace transformation method, and the transient vibration responses of the coupling system are derived directly by the application of the residue theorem. Furthermore, numerical calculations are carried out for an exponentially decaying pulse and a half sinus one, and the numerical results agree well with the previous experimental ones.
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| 23.
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小島, 宏行 ; 根津, 紀久雄 ; 市川, 良雄 ; 田中, 伸和
概要:
application/pdf<br />Journal Article<br />In this report, the forced vibrations of a rectangular plate subjected to electromagnetic force by an electromagnet are investigated theoretically by the finite element method, and the numerical
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results are compared with the experimental ones. The rectangular plate is fixed along one edge and free along the other three, and twelve rectangular elements are used in the finite element analysis. The electromagnetic force character is supposed to be uniformly proportional to the square of the exciting current of the electromagnet in each rectangular element according to the measured data about the magnetic flux density. The numerical results agree well with the experimental ones except for nonlinear vibration behaviors. Then, it is observed experimentally the the second order superharmonic and the one-second order subharmonic vibration s due to the nonlinearity of the electromagnetic force.
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| 24.
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小島, 宏行 ; 白石, 秀雄 ; 長屋, 幸助
概要:
application/pdf<br />Journal Article<br />In this report, the transient vibrations of a beam mass system subjected to nonlinear electromagnetic force are investigated theoretically and experimentally in consideration of both the
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nonlinearity of the electromagnetic force and the inductance of a electromagnet. The beam is fixed at one end, and the mass is attached to another end. The electromagnetic force produced by the elctromagnet acts on the mass. The electromagnet is excited by sinusoidal waves, rectangular waves and rectangular pulse voltages by using a micro computer. In the analysis, the electromagnetic force is approximated by using a series of rectangular pulses, and the lateral vibrations of the beam are obtained by adding the individual responses due to each rectangular pulse. The response solution of the governing partial equation of the beam mass system is derived by the Laplace transformation method. The numerical results agree well with the experimenatal ones.
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長屋, 幸助 ; 小島, 宏行 ; 岩田, 浩明 ; 伊藤, 美津夫 ; 太田, 幸一
概要:
application/pdf<br />Journal Article<br />磁気ダンパとサーボモータを用いた,コンピュータによるパルス信号制御の開ループ位置決め系を提示し,この系の妥当性を検討した.解析では軸振動の影響を考慮し,ばね
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と連続体についての両結果を誘導して両者の比較検討を行い,通常の制御速度でのばね系による解析の妥当性を明らかにした.また軸を剛体とした場合の結果を示して軸振動の影響を検討した.さらに軸の強度設計の観点から,軸のねじりモーメントを与える式をも示した.
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| 26.
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小島, 宏行 ; 新山, 文彦 ; 長屋, 幸助 ; 永井, 克巳
概要:
application/pdf<br />Journal Article<br />本報は, 希土類磁石を用いた電動リニアアクチュエータと速度センサに制御回路を付与して構成した速度フィードバック形電磁ダンパを試作し, これを調和加振力が作用
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しているはり状構造物に取付けて振動制御の実験を行うとともに, はり状構造物と制御系との両方を考慮し, ベルヌーイ・オイラーのはり理論を用いて系の応答を厳密に解析したものである. また制御系のゲインなどの因子が制御効果や系の応答に及ぼす影響を解明した.
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| 27.
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小島, 宏行 ; 新山, 文彦 ; 長屋, 幸助 ; 永井, 克巳
概要:
application/pdf<br />Journal Article<br />本報は, 衝撃力が作用するはり状構造物の振動制御の実験を, 前報で試作した速度フィードバック形電磁ダンパを用いて行うとともに, はり形の振動変位ならびに制御
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系の電流の衝撃応答解を, ラプラス変換法およびベルヌーイ・オイラーのはり理論を用いて厳密に導いたものである. なお衝撃力として, マイクロコンピュータと電動リニアアクチュエータによる電磁力を用いた. さらに振動制御の効果や安定性などについて詳細に調べた.
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