著者

梶原 逸朗 山家 勝裕 下嶋 浩

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.64, no.626, pp.3839-3846, 1998-10-25

参考文献数

9

被引用文献数

1

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Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing an linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem with pole placement. The performances of the force and the position controls are defined by the H_2 norm, and the robust stability according to gain scheduling is evaluated with the H_∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.

著者

小池 関也 山家 勝裕 下嶋 浩

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.64, no.622, pp.2094-2101, 1998-06

参考文献数

15

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A hybrid control method for a flexible manipulator based on an angular velocity control is presented, which is applicable to curved constraint surfaces. The error of contact force is converted into a velocity vector according to the force/velocity conversion law which consideres both force respose characteristics and variational angular velocity with respect to normal direction of the surface. The velocity vector which is tangent to the constraint surface is calculated using the velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors. A vibration control law is proposed to reduce overshoot of end point velocity response. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and vibration control term. Motion and force controls without calculating inverse dynamics is performed using DC motors whose desired values are equal to the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

小池 関也 下嶋 浩 山家 勝裕

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.590, pp.3999-4006, 1995-10-25

参考文献数

16

被引用文献数

1

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A simple method is presented for controlling the motion and gripping force in dual flexible manipulators without calculating inverse dynamics. The gripping force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector of contact point is calculated from the velocity of the object. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vector considering defectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Coordinative control is performed using DC motors whose desired values are equal to the above desired angular velocity vector. The characteristics of gripping force response of control system is also considered. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.