著者

松田 敏彦 丹治 辰男

出版者

室蘭工業大学

雑誌

室蘭工業大学研究報告. 理工編 = Memoirs of the Muroran Institute of Technology. Science and engineering (ISSN:05802415)

巻号頁・発行日

vol.6, no.3, pp.1015-1031, 1969-07-15

著者

近藤 俶郎 谷野 賢二 渡部 富治 奥田 教海 松田 敏彦 土手 康彦

出版者

室蘭工業大学

雑誌

室蘭工業大学研究報告. 理工編 = Memoirs of the Muroran Institute of Technology. Science and engineering (ISSN:05802415)

巻号頁・発行日

vol.37, pp.251-266, 1987-11-10

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A series of study on wave power utilization conducted during the period of 1976―1986 by the group of staffs of the institute is summarized. Three kinds of power extractor belonging to the so-called coastal fixed type were invented and studied in laboratory. Among them the water turbine and the pendular systems were subsequently studied at the field test plant constructed at Port Muroran which shows the latter has an excellent power conversion efficiency. An approach for predicting the power extracted by the fixed type extractors has been proposed employing analyses of wave spectral transformation and of three dimensional kinematics of extractors. Simulations for maximizing the power charged into lead battery and for the optimal load condition of power generation have been performed. A case study on practical application of the wave power utilization has been done for Yagishiri Island, one of remote islands far from main lands which are the most prospective locations to realize the wave power utilization in the near future.

著者

梶原 秀一 橋本 幸男 松田 敏彦 土谷 武士

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.18, no.4, pp.515-520, 2000-05-15

被引用文献数

8 6

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This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link 'in phase' with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.

著者

梶原 秀一 橋本 幸男 松田 敏彦 土谷 武士

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.17, no.4, pp.520-525, 1999-05-15

参考文献数

7

被引用文献数

9 4

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Timely input sometimes can control periodic movement of mechanical systems. In the swing which is the parametric excitation system, when the center of gravity is moved in double cycle, the swing's amplitude increases, and it decreases when this phase is moved π [rad] . But it is difficult to control a swing in the wide range, because the cycle of the swing depends on its amplitude. This paper shows that the van der Pol's equation inputted the swing's angular velocity can compose the frequency observer, and proposed the new control form of a swing that the center of gravity is moved by nonlinear feedback which consists of equation's output.