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論文
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小島, 宏行 ; 山口, 晃明 ; 坂本, 賢治
概要:
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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| 2.
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論文
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小島, 宏行 ; 三友, 啓之 ; 和田, 祐樹 ; 坂本, 賢治
概要:
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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| 3.
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論文
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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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論文
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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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