著者

フェリペ・デ・ラ ロサ 大槻 真嗣 吉田 和夫

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2001, pp.314-317, 2001

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This paper develops an approach for the control of the motion of a multiple-link manipulator possessing unactuated joints. A three-rigid-link arm with its shoulder joint actuated and two elbow joints unactuated is modeled as a nonlinear Affine system. The system is a case of second-order nonholonomy since the constraints at the passive joints contain terms of accelerations. In the proposed method to solve the problem of optimal positioning the control input is expressed as a general function of a Fourier basis parameter acquired by using the Ritz method; then this parameter is optimized through the application of the Newton method. Numerical simulations were carried out and tests with an experimental setting demonstrate the effectiveness of the approach.

著者

アミラ シャザッナ 坂上 憲光 石川 智士

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2013, pp._A34-1_-_A34-7_, 2013

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This paper presents the development and preliminary experiments of dynamic buoyancy adjusting device with an assist spring. The proposed buoyancy adjusting device is actuated by an electric motor with a passive spring that provides some assistance to the motor. The device can achieve better energy efficiency and higher speed for dynamic control because the assist spring support actuator torque and allows low gear. In this paper, we have designed and developed a dynamic buoyancy adjusting device as a prototype. We have tested the performance of the developed device in a water tank with a depth of 1 meter.

著者

根本 剛志 河村 隆 鈴木 智 飯塚 浩二郎 奥田 一郎

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2011, pp.264-267, 2011

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In this paper, we present prototype robot to replicate features of dragonfly flight. We have observed and revealed characteristics of dragonfly flight in lifting, cruising, and hovering. With flapping fore and hind wings out of phase, we have achieved sustained flight with our dragonfly prototype. We present overview of observation, flapping mechanism, experimental setups, and experimental results.

著者

鈴木 裕一 鈴木 薪雄 寺嶋 一彦

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2001, pp.452-455, 2001

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This paper is concerned with a human interface between a human operator for decision-making of obstacle avoidance and a crane transferring an object. A semi-automatic control system is proposed in terms of a diffusion equation strategy in order to check and revise the reference trajectory directed by human operator for obstacle avoidance. Moreover, this system includes an optimal servo controller to suppress the sway of the transfer object and to control the cart velocity. The usefulness of the proposed method is demonstrated through experimental studies.

著者

澤田 浩之

出版者

一般社団法人日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2011, no.12, pp.221-224, 2011-06-28

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Engineering design usually starts with a customer need, and then proceeds through several stages: conceptual design, functional design, layout design, structural design and production design. As design proceeds, design information about the artifact becomes concrete and quantified gradually. In the last several decades, computer simulation technologies including FEM have been developed for the later design stages at which correct and concrete numerical information is available. On the other hand, computer support for the earlier design stages is not sufficient due to difficulties in handling ambiguous and qualitative design information. However, it is well known that design at the early stages has a great influence on the final design solution, and designers need design support tools for upstream design. Therefore, we have established a research society for 1D-CAE, which is a general term for idea, methodology and tools applicable for upstream design support, and discuss the concept and definition of 1D-CAE. This paper reports our discussion about 1D-CAE.

著者

越智 徳昌 伊藤 泰隆 横山 信宏 村岡 浩治

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2011, pp.441-446, 2011

被引用文献数

1

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This paper presents a design method of an MIMO (Multiple-Input-Multiple-Output) I-PD (Integral preceded by Proportional-Derivative) controller, which is a kind of PID controller, via integral-type optimal servomechanism and fractional balanced reduction (FBR) of a plant model. FBR is a kind of closed-loop model reduction method. The validity of the obtained reduced plant model is evaluated using the v-gap metric. The design method is applied to flight control design of a quad-tilt-wing (QTW) unmanned aerial vehicle (UAV).

著者

上野 誠也 戸田 隆慶

出版者

一般社団法人日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2005, no.9, pp.199-203, 2005-08-22

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This paper discusses on guidance and control law for an unmanned lunar landing module. The guidance law is required to avoid obstacles on a lunar surface automatically during vertical descending. The main thruster of landing module is used not only for deceleration of descending rate but also for avoidance maneuver. Thus the avoidance guidance law is required to complete the maneuver during main thruster firing. The main purpose of this paper is to show the relation between thruster delay and the landing accuracy through numerical simulation. The results show that the delay time of main thruster affects the accuracy of vertical landing rate. The requirement of landing accuracy, however, is satisfied for the main thruster with common performance.

著者

木坂 正志

出版者

一般社団法人日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2005, no.9, pp.7-9, 2005-08-22

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To suppress external vibration for a hard disk drive shock sensor feed forward techniques are proposed. To design the feedforward controller phase approximation is important. In this paper a method to design a Finite Response Filter (FIR) type controller with phase constraint is proposed. The result is compared with the method which does not use the phase constraint. For the filter with small order the proposed method can approximate the phase better.