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劉, 英男 ; 小島, 宏行 ; 金, 元甲 ; 小林, 敏雄
概要:
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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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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| 3.
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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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小島, 宏行 ; 桑名, 秀晴 ; 疋田, 嘉一 ; 水野, 寿考
概要:
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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| 5.
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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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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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| 7.
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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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| 8.
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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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