MRASによるロボットの動力学的制御に関する一考察

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4273
File
Title
MRASによるロボットの動力学的制御に関する一考察
Title Alternative
A Consideration of Dynamic Control of Robotics Manipulators Using MRAS
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 吉田 和信
ヨミ ヨシダ カズノブ
別名 Yoshida Kazunobu
Subject
model-referenced adaptive control system
linkage-type manipulator
polar coordinate type manipulator
feedback gain
paylord
simulation
integral-action.
Abstract

The effectiveness of the model-referenced adaptive control system (MRAS) developed by Dubowsky et al. has been investigated from the simulation analysis of the systems using such dynamic models as a simple linear 2nd-order type manipulator, a single degree-of-freedom linkage type one, and a 2 -degree-of freedom polar coordinate type one. When the tuning gains for the adaptive control of manipulator dynamics, Kp and Kv, are initially set at their ideal values, good performance of MRAS can be obtained over a wide range of configulational motions and inertia paylords, whether there is the nonlinear complex and coupled nature of the manipulator dynamics or not. Simulation results show that the practical limitation of the MRAS algorithmus in high speed manipulator applications lies in P (normalized frequency)≦2, and also that the offset due to the gravity effect can be improved by adding the I-action parallel to the Kp (position gain). The applications of the MRAS concept to so called automatic-tuning process control can be sufficiently expected in the sense that good settings of the parameters (feedback gains) are possible without the complex identification system about processes.

Journal Title
広島工業大学研究紀要
Volume
21
Spage
119
Epage
128
Published Date
1987
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima