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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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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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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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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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小島, 宏行 ; 木村, 仁次郎 ; 小林, 敏雄
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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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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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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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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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