Home >

news ヘルプ

論文・著書情報


タイトル
和文:劣駆動システムの投球運動制御と爆発不安定性の解析 
英文: 
著者
和文: 小路拓也, 関口和真, 三平満司.  
英文: Takuya Shoji, Kazuma Sekiguchi, MITSUJI SAMPEI.  
言語 Japanese 
掲載誌/書名
和文:第11回制御部門大会論文集 
英文: 
巻, 号, ページ         16623
出版年月 2011年3月 
出版者
和文: 
英文: 
会議名称
和文:第11回制御部門大会 
英文: 
開催地
和文:沖縄、日本 
英文: 
アブストラクト 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.

©2007 Institute of Science Tokyo All rights reserved.