Attitude Control of a Rhonrad by Internal Mass Motion

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概要

• 論文の詳細を見る

• Rhonrad is a gymnastic equipment that is interesting in terms of dynamics and control. The control method of the Spiral motion by the mass motion in the Rhonrad was clarified. First, the condition for a steady Spiral motion with arbitrary mass position was obtained. Then, by using the linearized equation of motion, the control method to control the attitude of the Rhonrad by the mass motion in it was derived. This control method allows the state of the Rhonrad to be changed from one steady Spiral motion to another steady motion.

• 一般社団法人日本機械学会の論文
• 2006-12-15

著者

• Yamaura Hiroshi

  Graduate School Of Science And Engineering Tokyo Institute Of Technology

• Ono Kyosuke

  Central Research Laboratory Hitachi Ltd.

• MITARAI Tsuyoshi

  Graduate School of Science and Engineering, Tokyo Institute of Technology

• Mitarai Tsuyoshi

  Graduate School Of Science And Engineering Tokyo Institute Of Technology

関連論文

• Stabilization Control for Giant Swing Motions of 3-link Horizontal Bar Gymnastic Robot Using Multiple-prediction Delayed Feedback Control with a Periodic Gain
• Attitude Control of a Rhonrad by Internal Mass Motion

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