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小島, 宏行 ; 千木良, 英幸 ; 桑野, 好文 ; 阿部, 慶一 ; 菊地, 範芳
概要:
application/pdf<br />Journal Article<br />This study deals with the trajectory tracking control of a three-degree-of-freedom semiconductor wafer transfer robot arm driven hybrid stepping motors. The desired trajectory of the end of the
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robot is set to be a straight line, and the desired posture of the third link is constant. The high-precision control of the hybrid stepping motor is executed with the microstep drive technique. The desired joint angle is obtained by the microstep technique and the trajectory planning method based on the inverse kinematics. From the numerical calculation results and the experimental results, it is confirmed that the trajectory tracking control of the three-degree-of-freedom semiconductor wafer transfer robot arm can be successfully executed by the present high-precision control system with microstep drive technique. Furthermore, the error of the end of the robot arm is theoretically investigated.
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| 2.
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小島, 宏行 ; Kato, Gustavo
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application/pdf<br />Journal Article<br />In this paper, the dynamic behaviors of a two-link hopping robot with two stopper mechanisms are investigated theoretically. In the theoretical analysis, the dynamic behaviors of the
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two-link hopping robot with two stopper mechanisms are modeled by use of the four phases (phase-A, phase-B, phase-C, phase-D). At the moment when the first joint stops, the state of the system transfers from phase-A to phase-B. Then, at the moment when the second joint stops, the state of the system transfers from phase-B to phase-C. In phase-C, the two-link hopping robot moves in space, and at the moment when the two-link hopping robot lands, the state of the system transfers from phase-C to phase-D. Using the principle of the conservation of momentum and angular momentum, the initial states in the periods of phase-B and phase-C are derived, and the equations of motion of the two-link hopping robot in all phases are obtained. Furthermore, the numerical simulations have been carried out, and it is confirmed theoretically that the hopping and moving action can be performed successfully.
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小島, 宏行 ; 楽, 燕群 ; 呉, 大鵬 ; 高田, 嘉之
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application/pdf<br />Journal Article<br />In this paper, first, the trajectory planning method of a rectangular prism object with three mobile robots with passive compliance mechanisms is presented. To accomplish the smooth motion
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control of the rectangular prism object, in the trajectory planning of the rectangular prism object, clothoid is used effectively, and the trajectory of the multiple mobile robots is obtained from the trajectory of the rectangular prism object. Then, the tracking control system of the three mobile robots is constructed. Second, using the three autonomous mobile robots (MK-01X developed by the Fuji Heavy Industries), the experiments of the pushing transfer have been carried out, and it is confirmed experimentally that the rectangular prism object can be transferred.
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小島, 宏行 ; 羽廣, 憲一
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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
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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.
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小島, 宏行
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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
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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.
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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
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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.
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小島, 宏行
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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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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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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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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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