論文 - 高橋 伸弥
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A study on obstacle avoidance trajectory of manipulator with flexible element
Asaji Sato, Osamu Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 677 - 681 2018年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Controller design for quadrotor based on I/O linearization
Masahiro Yokomichi, Yuta Yamashita, Nobuya Takahash, Osamu Sato
Proceedings of the 23rd International Symposium on Artificial Life and Robotics 694 - 697 2018年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A study on the vibration suppression of the manipulator with flexible element 査読あり
Sato Osamu, Sato Asaji, Yagi Toshiki, Takahashi Nobuya, Yokomichi Masahiro
Artificial Life and Robotics 22 ( 4 ) 471 - 476 2017年12月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2017, ISAROB. For the rapid motion and the saving energy of transport by the manipulator, it requires a study for lighter mechanisms such as flexible link. In this report, a flexible link is modeled with rigid body connected by three springs. And, the equations of motion of manipulator driven by two motors are derived in consideration of the deflection of flexible element and the characteristics of driving source. For the case to transport the object from the initial position to the desired position by the manipulator, the energy-saving trajectory influenced by vibration is calculated by the iterative dynamic programming method, and the effectiveness of the control method is evaluated by the numerical simulation. Furthermore, the effectiveness of the numerical simulation is confirmed by the experiment of a flexible link which is driven by a single motor with energy-saving trajectory.
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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji Sato, Osamu Sato, Nobuya Takahashi and Masahiro Yokomichi
Artificial Life and Robotics 22 ( 1 ) 113 - 117 2017年3月
記述言語：英語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.In this article, equations of motion of a manipulator are derived in consideration of the characteristics of DC servomotors, and a performance criterion for saving energy is defined in consideration of energy consumption of the driving source. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity, and an analytical solution cannot be found. By considering for catching the object that moves parabolic, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by experiment.
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A study of robust control for a rolling object and beam system
Nobuya Takahashi, Osamu Sato, Asaji Sato, Masahiro Yokomichi, Hidehiro Endo
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 761 - 764 2017年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A study on the vibration suppression of the manipulator with flexible element
Toshiki YAGI, Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics 765 - 768 2017年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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The development of experiment support system for junior high school science using AR technology
Tatsuya OISHI, Masahiro YOKOMICHI, Osamu SATO, Nobuya TAKAHASHI
Proceedings of the 22nd International Symposium on Artificial Life and Robotics, pp.773-776, 2017, Beppu 773 - 776 2017年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A study about control for rolling objects and beam system
Takahashi N., Sato O., Sato A., Yamashita Y.
Artificial Life and Robotics 21 ( 4 ) 540 - 544 2016年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.The ball and beam system consists of a long beam which can be tilted by a servo motor together with a ball rolling back and forth on top of the beam. In this article, an equation of motion of the rolling objects and the beam are derived in consideration of characteristics of driving source. By considering the changes in the number of rolling object, trajectories for positioning control are calculated by iterative dynamic programming method. And the dynamic characteristics of the system controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally.
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Guaranteed cost control of robot manipulator with prescribed degree of stability
Takahashi N., Sato O.
Artificial Life and Robotics 21 ( 4 ) 520 - 524 2016年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2016, ISAROB.In this paper, we propose a robust controller design method for a linear time invariant system which combines two methods. The first one is referred as guaranteed cost control, that is one kind of a robust design method for the system with structured uncertainty. It gives a robust stable feedback law, which guarantees an existence of the upper bound for the effect of a perturbation. The second one is called prescribed degree of stability. For a nominal system, by a transformation of a state and input vector, it can relocate all the poles of the closed-loop system to leftward in the complex plane, after a design procedure based on the cost minimization like the linear quadratic regulator. Thus, our proposed method is able to design a robust stable controller, and it can also adjust the system characteristics on the complex plane. At last, we show the validity of our proposed method through the numerical example.
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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Artif Life Robotics 22 113 - 117 2016年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Analysis of the two-link manipulator in consideration of the horizontal motion about object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 21 ( 1 ) 43 - 48 2016年3月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
© 2015, ISAROB.In this article, equations of motion of two-link-manipulator are derived in consideration of characteristics of driving source. By considering for horizontal motion about object, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by fundamental experiment.
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Guaranteed cost control of robot manipulator with prescribed degree of stability 査読あり
Hiroaki Shigehara, Nobuya Takahashi, Osamu Sato
The Twenty-First International Symposium on Artificial Life and Robotics 2016 631 - 634 2016年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Analysis of manipulator in consideration of impact absorption between link and projected object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
The Twenty-First International Symposium on Artificial Life and Robotics 2016 644 - 647 2016年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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入力行列に不確かさを有するネットワーク化システムのギャランティードコスト制御
高橋 伸弥, 横道 政裕, 佐藤 治
年次大会 : Mechanical Engineering Congress, Japan 2015 "G1000104 - 1"-"G1000104-3" 2015年9月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：一般社団法人日本機械学会
Guaranteed cost control is a method for the robust control problem of the LTI-systems with structured uncertainty. In such systems, the performance index is perturbed by the effect of uncertainty. So this method design the robust stable system to guarantee the existence of upper bound of performance index. On the other hand, the networked control system is investigated. The LTI system plant and controller are connected with communication bus. The input and output signals are transmitted by previously defined periodic pattern. The whole system characteristics is constructed as periodic system. This issue consider that the application of guaranteed cost control to the networked control system with the plant includes the uncertainty in an input matrix.
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Experimental analysis of the two-link manipulator in consideration of the relative motion between link and object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Artificial Life and Robotics 2015年5月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Fundamental study of a trajectory tracking control problem of the LEGO tribot robot 査読あり
Tetsuya YAMANAKA, Nobuya TAKAHASHI, Osamu SATO
Proceedings of the 20th International Symposium on Artificial Life and Robotics 866 - 869 2015年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Analysis of the two-link manipulator in consideration of the horizontal motion about object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI,
Proceedings of the 20th International Symposium on Artificial Life and Robotics 862 - 865 2015年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Guaranteed cost control of the networked control system
Takahashi N., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 626 - 631 2014年10月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Proceedings of the SICE Annual Conference
© 2014 SICE.In this paper, we show the design method of the networked control system with structured uncertainty. In this system, the plant and the controller are connected with a communication bus. The plant and controller are denoted as LTI-system, but the communication bus has a periodic characteristic. So that the whole of the system characteristics is denoted as a periodic system. In this paper, we consider the guaranteed cost control in the case with the linear time-varying system. As this result, we derive the stochastic discrete algebraic Riccati equation of the time-varying case and apply this equation to the design problem of networked control system. In the numerical example, the plant is car-pendulum system with uncertainty. Through the numerical result, we show the effectiveness of our proposed method.
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Experimental Analysis of the Two-link-manipulator in Consideration of the Relative Motion between Link and Object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Masahiro YOKOMICHI
Proceedings of the 19th International Symposium on Artificial Life and Robotics 748 - 751 2014年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Robust observer design with the guaranteed cost control approach 査読あり
Yutaka NITANDA, Nobuya TAKAHASHI, Osamu SATO, Masahiro YOKOMICHI
Proceedings of the 19th International Symposium on Artificial Life and Robotics 752 - 755 2014年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）