著者

章 国光 武居 直行 古荘 純次

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.636, pp.3226-3233, 1999-08-25 (Released:2008-02-26)

参考文献数

12

---

Flexibility in joint drive systems causes robot arm vibration. The conventional semi closed-loop control cannot provide a high servo stiffness and large bandwidth for industrial robots. To achieve a high speed and high precision control, it is important to reduce vibration of robot arm and effect of disturbance. For this purpose, state feedback control becomes more and more important in practice. In this paper, we present an analysis and design of state feedback control for two-inertia system. From the viewpoints of non-negative positional stiffness and internal feedback construction, the domain of pole assignment is analyzed. The effect of disturbance is compared and evaluated for three optimum pole assignments, and the worst case of disturbance is also introduced. It is shown that choice and design of optimum pole assignment are very important when considering the effect of disturbance.

著者

武居 直行 古荘 純次 岩越 邦男

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.123, no.2, pp.149-155, 2003 (Released:2004-03-31)

参考文献数

24

被引用文献数

5 4

---

Most Industrial robots are driven through reduction gears such as harmonic drives and RV gears. Since the exibility of the drive system, the vibratory behavior is caused duringthe operation. When the exibility is considered, the drive system of the robot joint can be modeled as a resonant mechanical system called two-inertia system. Two-inertia systems are the vibratory systems that have poles on/near the imaginary axis. Acceleration feedback and torque feedback are known as the vibration control methods of two-inertia systems. In this paper, we consider the two-inertia system with the feedbacks of motor-acceleration, load-acceleration and torsion-torque. It is shown that each feedback works to control the inertia-ratio of two-inertia system. Then, the control performances are compared. Torsion vibration in robot joint, which occurs owingto the accuracy of components and assembly error of gears at a certain speed of rotation, becomes a problem. In order to suppress the torsion vibration, each feedback is applied to the robot arm. As a result, the torsion vibrations are suppressed e ectively.

著者

佐野 明人 古荘 純次

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.26, no.4, pp.459-466, 1990-04-30 (Released:2009-03-27)

参考文献数

19

被引用文献数

9 18

---

A biped locomotion robot is expected to be very useful in indoor space designed for human locomotion. In order to achieve a smooth dynamic walking like a human being, it is very important to control a quantity which can represent the state of the biped system as a whole. In regard to biped locomotion systems, an angular momentum of the whole system can be considered as a good index, since it is a stable quantity, as seen from ‘the law of the conservation of angular momentum.’ A control method divided the walking into motions in the sagittal plane and in the lateral plane is adopted. For motion in the sagittal plane, we put the angular momentum close to the smooth reference function given in advance by controlling the ankle torque of supporting leg. For motion in the lateral plane, we treated the motion control as a regulator problem with two equilibrium states. The effectiveness of the proposed control method was examined by the experiments with our walking robot BLR-G2. The BLR-G2 achieved three-dimensional walking where the walking speed is 0.35m/s with stride length 35cm.

著者

章国 光 古荘 純次

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.592, pp.4687-4695, 1995-12-25 (Released:2008-02-26)

参考文献数

11

---

Friction in joint driving systems constitutes an important source of nonlinearity that makes it difficult to achieve high-precision control. In this paper, a method of estimating friction is proposed, which requires a joint torque signal, armature current and motor angular velocity. Considering disturbance rejection, a position control method is proposed as follows. Vibration is restrained by bandpass joint torque feedback, and high-precision position control is realized by friction feedforward compensation. Assignment of pole distribution is employed to determine three control coefficients, and the effect of disturbance rejection is compared and evaluated for three kinds of pole distributions. Properties of the proposed control are discussed, and experimental results are also Presented.

著者

市岡 稔章 森川 隆浩 井上 浩貴 古荘 純次

出版者

一般社団法人日本機械学会

雑誌

東海支部総会講演会講演論文集

巻号頁・発行日

vol.2011, no.60, pp."154-1"-"154-2", 2011-03-01

著者

古荘 純次 小柳 健一 井上 昭夫 武居 直行

出版者

大阪大学

雑誌

基盤研究(B)

巻号頁・発行日

2002

---

機能性流体を用いた高性能かつ安全な力覚提示システムに関する研究を行い以下の成果を得た.(1)ER流体ブレーキを冗長個数使用した冗長自由度を持つパッシブ型力覚提示システムを開発し,その制御方式について検討を行なった.パッシブ型力覚提示システムは本質的に安全であり,広範な使用が期待される.(2)ER流体ブレーキを用いた力覚提示システムの新しい制御方式を提案し,力覚提示実験によりその評価を行なった.(3)機能性流体アクチュエータを用いた2次元および3次元の力覚提示システムを開発した.また,その応用例として,上肢のリハビリテーションなどへの適用を行なった.(4)ERアクチュエータにおけるクラッチ入力部の回転速度をできるだけ下げることが,安全性に大きく寄与する.そこで,クラッチ入力部の回転速度をどこまで下げても力覚に違和感が生じないかについて,検討を行なった.(5)開発したERアクチュエータやブレーキを用いて高性能な力覚提示システムを開発するため,ベルト等を用いた伝達機構技術の確立を行なった.(6)ベルト等を用いたシステムでは,2慣性特性を考慮した制御系設計が必要である.本研究では,2慣性系制御について検討を行い,力覚提示システムの制御性能の向上を図った.(7)ワイヤ駆動型の安全性の高い力覚提示システムを開発した.(8)上記で開発したシステムの安全性について検討を行なった.