知的適応構造物の制御 : 第1報, 最適軌道制御

概要

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This paper is concerned with the optimal trajectory control of an intelligent truss structure composed of a truss-type mechanism. The intelligent adaptive structure can change its geometric configuration as well as physical properties in order to meet mission requirements. Many variable-length members are incorporated in the intelligent adaptive structure, resulting in a highly redundant system. Thus, the intelligent structure which is used as a manipulator arm can utilize the redundancy for the optimization of trajectory control. Efficient control methods are proposed for the trajectory control optimizing a performance index by using the redundancy. The validity of the proposed methods is demonstrated through numerical simulations. An adequate performance index enables the intelligent adaptive structure to be an appropriate configuration.
一般社団法人日本機械学会の論文
1991-11-25