2P1-B34 劣駆動システムの切換え制御におけるエネルギー領域切換え法

スポンサーリンク

概要

• 論文の詳細を見る

• This paper discusses about the control method of an underactuated manipulator, which is also a kind of nonholonomic systems. Since there are few actuators than the numbers of joints, the underactuated manipulator has various advantages, such as lightweighting, energy saving and cost reduction. However the underactuated manipulator needs complex cotrol. Therefore we devised a fuzzy energy region method based on a logic based switching method. The fuzzy energy region method is a technique using the logical switching rule based on the energy region expressed with the fuzzy rule. We compare the fuzzy energy region method with the logic based switching method by simulations. The validity of the fuzzy energy region method is verified and the difference from the logic based switching method is clarified.

• 一般社団法人日本機械学会の論文

著者

• Izumi Kiyotaka

  Saga University

• Watanabe Keigo

  Saga University

• Uchida Nobuhiro

  Saga University

• Ichida Keisuke

  Saga University

関連論文

• Force Control of the Robot Manipulator with Collision Phenomena by Learning Control
• Position/force control of robot manipulators for a geometrically unknown environment using fuzzy vectors
• 2P1-B34 劣駆動システムの切換え制御におけるエネルギー領域切換え法
• Swing Up of Acrobot Using Fuzzy Model Based Control(Neural Fuzzy Application,Session: MP2-C)

スポンサーリンク