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.