Dynamics based control of flexible multi-body systems and hyper-redundant systems with nonholonomic coustrant

柔性多体系统和非完整共力超冗余系统的基于动力学的控制

• 批准号: 14550210
• 负责人: MATSUNO Fumitoshi
• 金额: $ 2.3万
• 依托单位: The University of Electro-Communications (2003)Tokyo Institute of Technology (2002)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550210/
• 关键词: nonholonamic constraint; flexible multi-body system; Distributed parameter system; dynamics based control; experiment

In this research, dynamics-based control strategies for flexible multi-body systems and hyper-redundant systems have been developed. Proportional derivative and strain boundary feedback control (PDS control) of a flexible space structure with a closed-loop chain mechanism is derived. Asymptotic stability of the closed-loop distributed parameter system is proved by applying the operator theoryAs an example of hyper-redundant systems a snake-like robot has been discussedThe model of it is expressed as a hyper-redundant system with nonholonomic velocity constraintA controller for 3D snake-like robot that can accomplish several tasks by using redundancy is derivedExperimental validation was carried out

在这项研究中，已经开发了针对灵活的多体系统和超冗余系统的基于动态的控制策略。带有闭环链机制的柔性空间结构的比例导数和应变边界反馈控制（PDS控制）。 Asymptotic stability of the closed-loop distributed parameter system is proved by applying the operator theoryAs an example of hyper-redundant systems a snake-like robot has been discussedThe model of it is expressed as a hyper-redundant system with nonholonomic velocity constraintA controller for 3D snake-like robot that can accomplish several tasks by using redundancy is derivedExperimental validation was carried out

项目成果

亀川哲志, 松野文俊: "三次元ヘビ型ロボットにおける体幹ねじり型移動の解析とGAによる移動形態推移時の運動計画"日本ロボット学会誌. 21・5. 49-56 (2003)

龟川哲志、松野文俊：“利用 GA 分析三维蛇形机器人的躯干扭转运动以及运动模式转换期间的运动规划”日本机器人学会杂志 21・5（2003 年）。

亀川哲志, 松野文俊: "三次元ヘビ型ロボットにおける体幹ねじり型移動の解析とGAによる移動形態推移時の運動計画"日本ロボット学会誌. 21,5. 49-56 (2003)

Tetsushi Kamekawa、Fumitoshi Matsuno：“利用 GA 分析三维蛇形机器人的躯干扭转运动以及运动模式转换期间的运动规划”，日本机器人学会杂志 21,5 (2003)。

Fumitoshi Matsono (a joint work): "Advanced Studies of Flexible Robotic Manipulators Modeling, design, Control, and Applications"Series in Intelligent Control and Intelligent Automation, World Scientific. Vol.4. (2003)

Fumitoshi Matsono（合作作品）：“柔性机器人机械手建模、设计、控制和应用的高级研究”系列智能控制和智能自动化，世界科学。

Ismet Erkmen, Aydan M.Erkmen, Fumitoshi Matsuno, Ranajit Chatter jee, Tetsushi Kamegawa: "Serpentine Search Robots in Rescue Operations"IEEE Robotics and Automation Magazine. Vol.9, No.3. 17-25 (2002)

Ismet Erkmen、Aydan M.Erkmen、Fumitoshi Matsuno、Ranajit Chatter jee、Tetsushi Kamegawa：“救援行动中的蛇形搜索机器人”IEEE 机器人与自动化杂志。

松野文俊, 林彰史: "双腕1自由度フレキシブルマニピュレータのPDS協調制御"計測自動制御学会論文誌. 38・5. 447-455 (2002)

Fumitoshi Matsuno、Akifumi Hayashi：“双臂单自由度柔性机械手的 PDS 协作控制”仪器与控制工程师学会汇刊 38・5（2002 年）。