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Title
Japanese:劣駆動システムの投球運動制御と爆発不安定性の解析 
English: 
Author
Japanese: 小路拓也, 関口和真, 三平満司.  
English: Takuya Shoji, Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第11回制御部門大会論文集 
English: 
Volume, Number, Page         16623
Published date Mar. 2011 
Publisher
Japanese: 
English: 
Conference name
Japanese:第11回制御部門大会 
English: 
Conference site
Japanese:沖縄、日本 
English: 
Abstract The objective of this paper is to present systematic methods for throwing motion control of underactuated robots. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on input-output linearization and output zeroing control. The originality of this paper is to intentionally destabilize the zero dynamics, a nonlinear dynamics which remains unobservable from the designed output, to generate dynamic acceleration of the ball. Numerical simulations validate the effectiveness of the proposed control strategy.

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