巻号一覧
41 巻, 6 号
選択された号の論文の9件中1～9を表示しています
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中島 明, 長瀬 賢二, 早川 義一, 三田 将貴2005 年 41 巻 6 号 p. 481-490
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper considers simultaneous control of grasp/manipulation and contact points of an object with the pure rolling contact by two-fingered robot hand. We consider the case where the number of the degrees of freedom (DOF) of each finger is constrained. First, we derive a relationship between the rolling velocity and the motion of the fingers and the object, which determines the number of the DOF of the system. Second, we provide explicit expressions of the contact force and the motion of the fingers and the object, which can be directly used for the simultaneous control. Utilizing the results, we provide a general formulation of a linearizing compensator for the simultaneous control. Controlling the contact points can be realized by making the rolling velocity follow the appropriate trajectory with the nonholonomy of rolling. A numerical example shows the effectiveness of the method.抄録全体を表示PDF形式でダウンロード (2233K) -
上 泰, 延山 英沢2005 年 41 巻 6 号 p. 491-498
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to give a new iterativee algorithm for finding the globally optimal H2 controller and to extend the algorithm to the mixed H2/D-stability control problem. The key idea of our algorithm is to construct a “controller set” whose element improves the H2 norm of the closed loop map for a given controller. Using the controller set we derive a controller sequence on which H2 norm is monotonically non-increasing and that converges to the unconstraint H2 optimal value. After then, using the controller set, we propose an iterative algorithm for finding a sub-optimal solution of the mixed H2/D-stability control problem.抄録全体を表示PDF形式でダウンロード (2012K) -
山口 博明2005 年 41 巻 6 号 p. 499-508
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper introduces and describes a new type of wheeled locomotor which we refer to as a “trident steering walker.” This wheeled locomotor is a nonholonomic mechanical system, and it consists of an equilateral triangle base, three rotational joints, three links, and four steering systems. The equilateral triangle base has a steering system at its center of mass. Each apex of the base has a rotational joint coupling the base and a link which has a steering system at its middle point. The wheeled locomotor transforms the rotations of the three joints into its movement by using the four steering systems. This means that the wheeled locomotor makes undulatory locomotion in which it transforms the change of its internal shape into the generation of its net displacement. Especially, we assume a virtual joint at the tip of the first link. The virtual joint couples the first link and a virtual link which has a virtual axle at its middle point and which has a virtual steering system at its tip. We prove that, by assuming such virtual mechanical elements, it is possible to convert the kinematical equation of the trident steering walker into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which makes the trident steering walker follow a straight line. The validity of the mechanical design of the trident steering walker, the conversion of its kinematical equation into chained form, and the path following feedback control method has been verified by computer simulations.抄録全体を表示PDF形式でダウンロード (2372K) -
走行クレーンの振れ止め制御への適用小谷 斉之, 大内 茂人, 穴吹 雅敏, 劉 康志2005 年 41 巻 6 号 p. 509-517
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーIn the conventional H2 control, the state variables estimated by the full order observer has been used for the design of H2 controller, even if part of them are detected with sensors. However, it seems that the H2 controller reduced order is obtained when using the minimal order observer. In the first half of this paper, we show the minimal order observer for the system with disturbances. Next, we propose the design method of the reduced order H2 controller using this minimal order observe. In the latter half of this paper, we confirm the effect of a new H2 controller in the experiment of the anti-sway control of a traveling crane, which various control methods such as fuzzy control and optimum control are studied. Furthermore, we show that the reduced order H2 controller is almost the same performance as the conventional one in the comparative experiment of both.抄録全体を表示PDF形式でダウンロード (1694K) -
小松 知章, 三宅 美博2005 年 41 巻 6 号 p. 518-526
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses a time-series development of synchronization error (SE) fluctuation in the synchronization tapping task which requires anticipation of action timing. The error called “Negative Asynchrony” is well known in the sensory-motor coupling. This asynchronous means motion timings precede the cyclic onset of stimuli. With the use of power spectrum, we had already analyzed this phenomenon and reported two features of asynchronous. In power spectrum, one has self-similarity of power-law relationship. The other has periodicity with significant power peak. However, in such previous researche, the spectrum analysis is applied under a premise that the SE waveform is constant. In this report, we assumed that the asynchronous displacement has temporal structure. As a result of the DFA and the analyzing time evolution of power spectrum, we discovered new structures in its time-series. One has fairly self-similarity and high (about 1/f0.9∼0.2) fluctuation with regard to interval of pacing stimuli. The other has longstanding, for several minutes, periodicity with a cycle of same frequency. Additionally, we found dynamic relationships among such structures of time evolution.抄録全体を表示PDF形式でダウンロード (3223K) -
吉田 靖夫, 平野 正樹, 冨田 隆之, 手嶋 博文2005 年 41 巻 6 号 p. 527-532
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーPositioning and swing suppression of a suspended load which is carried by a traveling crane with hoisting motion are studied using visual feedback control. The test visual sensor model is a stereo vision-unit with four-degree-of-freedom that has two CCD cameras, recognizing color and shapes of the target. The traveling crane model has three-degree-of-freedom of trolley displacement, hoisting rope length and load swing angle. The stereo vision-unit measuring the coordinate values of the suspended load is controlled to gaze and track to the load. In the same time, positioning and swing suppression of the suspended crane load are controlled, actuating both the trolley traveling and rope hoisting using visual feedback data. Experimental results are presented.抄録全体を表示PDF形式でダウンロード (2212K) -
岡田 昌史, 大里 健太, 中村 仁彦2005 年 41 巻 6 号 p. 533-540
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThe human motions are generated through the interaction between the body and its environments. The information processing system defines the current motion using the signal feedback of the body state and environments. The motion pattern dose not exits a priori but emerges as the result of the entrainment phenomenon for the dynamics of the information processing, the human body and its environments. In this paper, based on the dynamics-based information processing system, we propose the motion emergence system design method for a humanoid robot designing a dynamical system that has an attractor considering the robot body dynamics. From the control engineering point of view, the proposed method designs a controller that stabilizes the robot to an equilibrium trajectory.抄録全体を表示PDF形式でダウンロード (2865K) -
盛重 肇, 田中 正吾2005 年 41 巻 6 号 p. 541-543
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーNon-destructive inspection of concrete structures is often made using an ultrasonic sensor. One of the authors developed previously an effective non-destructive inspection system based on multi-reflected wave model.
This paper proposes first to filter the sensor output by an adequate band pass filter to remove the affect from the surface disturbance and next to apply a multi-reflected wave model based non-destructive inspection taking into account of the attenuation coefficient in order to realize a reliable and accurate defect detection. Experiments show that the method is effective.抄録全体を表示PDF形式でダウンロード (480K) -
平田 研二2005 年 41 巻 6 号 p. 544-546
発行日: 2005/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with obtaining necessary and sufficient conditions for fulfilling specified state and control pointwise-in-time constraints of a certain class of nonlinear systems. The results are generalizations of the maximal output admissible set theory to the case of nonlinear systems. The paper proposes an explicit procedure for constructing the maximal output admissible set.抄録全体を表示PDF形式でダウンロード (480K)
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