1P1-Q01 非線形状態空間写像による力学構造の一致を利用したロボットの運動生成(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)

概要

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This paper proposes a controller design method from a given stabilized system. Between two dynamical systems, a state-space mapping is introduced satisfying dynamical consistency. Not only motions but also controllers are transformed based on the obtained mapping to generate dynamically equivalent motion. For linear systems, a linear state transformation is introduced based on eigen value decomposition of state transition matrix, and the effectiveness of the proposed method is evaluated by using two inverted pendulum systems. Moreover, by transforming the inverted pendulum motion into a two mass spring system, it is shown that the proposed method is available for completely different systems. For nonlinear systems, a nonlinear state transformation is utilized and conditional equations to be satisfied for transformation are introduced. The proposed method does not suffer from time-delay of the closed loop system because of the attractor based controller. The proposed method is applied to the tap dancing robots and the effectiveness is evaluated by experiments.
一般社団法人日本機械学会の論文
2011-05-26