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A Controller Design Method Based on Functionality
https://sucra.repo.nii.ac.jp/records/9320
https://sucra.repo.nii.ac.jp/records/93205282b8a0-da3d-41a6-bfb5-ce1fb177a804
名前 / ファイル | ライセンス | アクション |
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A1002442.pdf (662.8 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | A Controller Design Method Based on Functionality | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
辻, 俊明
× 辻, 俊明× 大西, 公平 |
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著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
OHNISHI, Kouhei | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
Advanced Motion Control, 2006. 9th IEEE International Workshop on p. 171-176, 発行日 2006 |
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年月次 | ||||||
2006 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/AMC.2006.1631653 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Robots in human environment need some redundancy for adaptation. It is therefore necessary to solve a complicated design issue of large-scale systems with hyper-DOF. The authors have proposed a design framework of functionality to solve the issue. Although the framework deals with task shifts and exception handling in a unified manner, it was limited to a multi-robot system in one-dimensional space. This study expands the framework to multi-DOF robots in three-dimensional space and shows a developed form. Cooperative Jacobian matrix is introduced for coordinate transformation. A new problem of interactions among function-based systems occurs along with the expansion. Disturbance observer is applied on each actuator to eliminate the interactions. The simplicity and explicitness of function-based controller design carry on despite the expansion since function-based systems are decoupled with disturbance observer | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002442 |