※一部利用できない機能があります
| 1.
論文 |
論文
|
小島, 宏行 ; 羽廣, 憲一
概要:
application/pdf<br />Journal Article<br />In this paper, the residual vibration reduction method of a crane using the optimal trajectory planning is proposed, and the usefulness of the present residual vibration reduction method is
…
confirmed both numerically and experimentally. In the optimal trajectory planning, the velocity profile of the trolley is expressed with two fifth-order polynomials, and it is depicted by two parameters obtained by applying some conditions to the fifth-order polynomials. Then, the traiectory is expressed as a function of the chromosome using the two parameters as the genes of the genetic algorithm, and the optimal trajectory of the trolley is obtained by defining the fitness function for the residual vibrations of the load. Furthermore, the numerical calculations been carried out, and it is confirmed that the residual vibrations can be extremely reduced, and the experimental results agree well with the calculation results.
続きを見る
|
||
| 2.
論文 |
論文
|
小島, 宏行
概要:
application/pdf<br />Journal Article<br />This study is concerned with the trajectory planning method of a CP control flexible robot arm by using a genetic algorithm. The flexible robot arm consists of a first rigid link and a second
…
flexible link, and the desired trajectory is set to be a straight line. In the trajectory planning, the reference trajectory, as if the flexural displacement of the second flexible link is zero, is expressed by use of a cubic spline function, and the velocity profile in the direction of the desired trajectory is depicted using two fifth-order polynomial functions. The individual chromosome of the genetic algorithm is composed using the parameters of the cubic spline function and the fifth-order polynomial functions as the genes. Then, the fitness function of the individual chromosome for the residual vibration reduction and the trajectory tracking control is defined, and the trajectory planning algorithm is constructed using the genetic algorithm. Furthermore, the numerical calculations have been carried out, and it is confirmed that the residual vibrations can be remarkably reduced, and the trajectory error from the desired trajectory can be considerably reduced.
続きを見る
|
||
| 3.
論文 |
論文
|
小島, 宏行 ; 戸塚, 輝成 ; 近藤, 厚哉
概要:
application/pdf<br />Journal Article<br />In this report, the rotation control system of the flexible robot arm is constructed with both the desired signal planning algorithm of the joint angle and the tracking controller. The tracking
…
controller consists of the PD controller and the disturbance observer. Then, the experiments of the rotation control of the flexible robot arm have been carried out. As the results, it is seen that the residual vibrations of the flexible robot arm can be remarkably reduced. Therefore, the usefulness of the present rotation control system of the flexible robot arm using the desired signal planning method of the joint angle and the disturbance observer is confirmed experimentally.
続きを見る
|
||
| 4.
論文 |
論文
|
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
…
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.
続きを見る
|
||
| 5.
論文 |
論文
|
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.
…
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.
続きを見る
|
||
| 6.
論文 |
論文
|
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
…
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.
続きを見る
|
||
| 7.
論文 |
論文
|
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
…
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.
続きを見る
|
