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A controller design method based on functionality
https://sucra.repo.nii.ac.jp/records/13046
https://sucra.repo.nii.ac.jp/records/13046d09860c2-90ce-42ae-9b99-2921454a9157
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
A1002391.pdf (1.1 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2008-01-18 | |||||
| タイトル | ||||||
| タイトル | A controller design method based on functionality | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | acceleration control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | decentralized control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | disturbance observer (DOB) | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | fault tolerance | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | mechatronics | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | motion control | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
辻, 俊明
× 辻, 俊明× 大西, 公平 |
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| 著者 ローマ字 | ||||||
| 値 | Tsuji, Toshiaki | |||||
| 著者 ローマ字 | ||||||
| 値 | Ohnishi, Kouhei | |||||
| 著者 ローマ字 | ||||||
| 値 | Sabanovic, Asif | |||||
| 著者 所属 | ||||||
| 値 | 埼玉大学大学院理工学研究科数理電子情報部門 | |||||
| 著者 所属(別言語) | ||||||
| 値 | Graduate School of Science and Engineering, Saitama University | |||||
| 書誌情報 |
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 巻 54, 号 6, p. 3335-3343, 発行日 2007 |
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| 年月次 | ||||||
| 値 | 2007-12 | |||||
| 出版者名 | ||||||
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | |||||
| 収録物識別子 | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 02780046 | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | info:doi/10.1109/TIE.2007.906175 | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Robots are expected to expand their range of activities to human environment. Robots in human environment need redundancy for environmental adaptation. Furthermore, they have to automatically modify their controllers in response to varying conditions of the environment. Therefore, the authors have proposed a method to design a hyper-degrees-of-freedom (DOF) control system efficiently. The method decouples a large control system into small independent components called "function." Motion of the entire control system is expressed as superposition of multiple functions. Combination of some functions realizes many patterns of motion. Hence, various motions are realized with much smaller efforts on controller design. Additionally, the controller design is explicit since a controller and a function correspond directly. This paper expands the method to multi-DOF robots in 3-D space, since the conventional method was limited to a multirobot system in 1-D space. A new problem of interference among function-based systems occurs along with the expansion. A disturbance observer is applied on each actuator to eliminate the interference. Procedures of controller design under varying conditions are also shown. The proposed method is applied to a grasping manipulator with 18 DOE Its experimental results show the validity of the method. | |||||
| 注記 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | (c)2007 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 | ||||||
| 値 | [出版社版] | |||||
| 出版タイプ | ||||||
| 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 | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 作成日 | ||||||
| 日付 | 2008-01-18 | |||||
| 日付タイプ | Created | |||||
| アイテムID | ||||||
| 値 | A1002391 | |||||
