論文 - 高橋 伸弥
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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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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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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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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）
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Stabilization of LTI systems with periodic communication constraints by using LQR method 査読あり
Takahashi N., Suzuki T., Yokomichi M., Sato O.
Proceedings of the SICE Annual Conference 1217 - 1222 2013年12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） 出版者・発行元：Proceedings of the SICE Annual Conference
This paper deals with the stabilization of a networked control system (NCS) whose sensors and actuators exchange information with a controller through a shared communication medium. To control a linear time-invariant (LTI) discrete-time plant via a bus with limited capacity, we introduce a holder and a communication sequence which follows a given w-periodic pattern. In the previous paper, we have shown that controllability and stabilizability of the plant are preserved in NCS. Moreover, we have shown that reconstructibility and detectability of the plant are preserved in NCS. In this paper, on the basis of reconstructibility and detectability, we design a middle order periodic observer and periodic state feedback by the periodic LQR method and show the validity of our proposed method by simulation.
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Analysis of manipulator in consideration of impact absorption between link and object
Sato O., Sato A., Takahashi N., Yokomichi M.
Artificial Life and Robotics 17 ( 2 ) 211 - 215 2012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
In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2012 ISAROB.
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Analysis of manipulator in consideration of impact absorption between link and object
Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi
Proceedings of the 17th International Symposium on Artificial Life and Robotics 267 - 270 2012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 control of a three-link RRR manipulator with structured uncertainty
Nobuya Takahashi, Yoshiaki Nakamura, Osamu Sato
Proceedings of the 17th International Symposium on Artificial Life and Robotics 275 - 278 2012年1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 manipulator in consideration of collision between link and object
Sato A., Sato O., Takahashi N., Yokomichi M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 95 - 98 2011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：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, equations of motion of a manipulator are derived in consideration of characteristics of driving source. Considering the collision between the link and object, and considering the active motion to absorb kinetic energy of the object, trajectories for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2011 ISAROB.
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Suzuki T., Kono M., Takahashi N., Sato O.
Systems and Control Letters 60 ( 12 ) 977 - 984 2011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：Systems and Control Letters
This paper proposes a new model for a networked control system and considers its controllability and stabilizability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given ω-periodic pattern. Incorporating the communication sequences and hold device into the original plant amounts to extending the original time-invariant state equation to a ω-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication sequence characteristic polynomial do not coincide with the eigenvalues of the plant. © 2011 Elsevier B.V. All rights reserved.
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Observer based control of a manipulator system with structured uncertainty
Aikawa C., Takahashi N., Sato O., Kono M.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 91 - 94 2011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：Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
In this paper, we show an uncertain model of a two link RR manipulator with uncertainties in the two rotation angles of each joint, and show the extended system with uncertainty also in an output matrix. For this system, we apply a guaranteed cost control method based on a linear upper bound. Parameter tuning of γ i in the linear upper bound is effective to design a feedback gain which have appropriate characteristics. In the numerical simulation, we show an advantage that the state observer is effective to reduce the influence of signal noise in state vector. © 2011 ISAROB.
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OS4 対象物とリンクの衝突における衝撃力緩和に関する研究(ロボットとセンシング)
佐藤 浅次, 藤治 治, 高橋 伸弥
日本機械学会九州支部講演論文集 2011 133 - 134 2011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
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Observer-based control of a manipulator system with structured uncertainty 査読あり
Nobuya TAKAHASHI, Masahiro YOKOMICHI, Osamu SATO and Michio KONO
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011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 a manipulator in relation to collision between a link and an object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI and Masahiro YOKOMICHI
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011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 a manipulator in relation to collision between a link and an object
Sato A., Sato O., Takahashi N., Yokomichi M.
Artificial Life and Robotics 16 ( 2 ) 169 - 173 2011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：Artificial Life and Robotics
In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
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Observer-based control of a manipulator system with structured uncertainty
Takahashi N., Yokomichi M., Sato O., Kono M.
Artificial Life and Robotics 16 ( 2 ) 234 - 238 2011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：Artificial Life and Robotics
In this article, we show a derivation of an uncertain system of a two-link RR manipulator with uncertainties in the two rotation angles of each joint. For this system, we apply a guaranteed cost control based on a linear upper bound. In our method, uncertainties are included in the state, input, and also output matrices. Parameter tuning of γi in the linear upper bound is effective in designing a feedback gain which has appropriate characteristics. In the numerical simulation, we show that the state observer is effective at reducing the influence of signal noise in a state vector. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).