| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-03-30 |
| タイトル |
|
|
タイトル |
MRASによるロボットの動力学的制御に関する一考察 |
| タイトル |
|
|
タイトル |
A Consideration of Dynamic Control of Robotics Manipulators Using MRAS |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
model-referenced adaptive control system |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
linkage-type manipulator |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
polar coordinate type manipulator |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
feedback gain |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
paylord |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
simulation |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
integral-action. |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
川辺, 尚志
吉田, 和信
Kawabe, Hisashi
Yoshida, Kazunobu
|
| 抄録 |
|
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内容記述タイプ |
Abstract |
|
内容記述 |
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. |
| 書誌情報 |
広島工業大学研究紀要
巻 21,
p. 119-128,
発行日 1987
|
| 出版者 |
|
|
出版者 |
広島工業大学 |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
03851672 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN0021271X |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
kenkyukiyo21119.pdf (429.4 kB)
