佐藤 治 (サトウ オサム)

SATO Osamu

写真a

職名

教授

研究分野・キーワード

機械力学、メカトロニクス分野

メールアドレス

メールアドレス

研究室電話

0985-58-7418

出身大学 【 表示 / 非表示

  •  
    -
    1978年03月

    山梨大学   工学部   機械工学科   卒業

出身大学院 【 表示 / 非表示

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    -
    1980年03月

    東京工業大学  理工学研究科  機械工学専攻  博士課程  修了

 

論文 【 表示 / 非表示

  • A study of robust controller and observer design method for a rolling object and beam system

    Nobuya Takahashi, Osamu Sato, Asaji Sato, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   23 ( 1 ) 67 - 72   2018年03月  [査読有り]

    共著

     概要を見る

    This paper deals with a robust control problem for a ball and beam system with an uncertainty. At first,we clarify the effect of a measurement error in the beam rotational angle and its differential value. It is expressed as additional terms in the state and input matrix of the state equation, which is called as a structured uncertainty. For this system, a robust tracking controller and a robust state observer are applied. Both components are designed based on a robust control, which is called guaranteed cost control. This is a kind of cost minimization method for designing problem of a linear feedback system. The controller is obtained as the solution of the matrix algebraic Riccati like equation, which is referred to as stochastic algebraic Riccati equation. The nominal system performance is degraded due to the influence of the uncertainty, but it is able to design a system with robustness for disturbance. Next, we consider the design problem of a state observer to estimate all state variables form the output signal easy to measure, like rotation angle of the beam. For the design problem of the state observer, we consider dual problem of the original system. Consequently, our proposed system estimates the whole state vector, and using estimated state values, it controls the ball to the desired position. Both components have robustness for the uncertainty. Numerical result shows the validity of our proposed method.

    DOI

  • A study on the vibraiton suppression of the manipulator with flexible element

    Osamu Sato, Asaji Sato, Toshiki Yagi, Nobuya Takahashi, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   22 ( 4 ) 471 - 476   2017年07月  [査読有り]

    共著

     概要を見る

    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.

    DOI

  • Analysis of manipulator in consideration of impact absorption between link and projected object

    Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi

    Artificial Life and Robotics, An International Journal, Springer   22 ( 1 ) 113 - 117   2017年03月  [査読有り]

    共著

    DOI

  • A study about control for rolling objects and beam system

    Nobuya Takahashi, Osamu Sato, Asaji Sato, Yohei Yamashita

    Artificial Life and Robotics, An International Journal, Springer   21 ( 4 ) 540 - 545   2016年12月  [査読有り]

    共著

    DOI

  • Guaranteed cost control of robot manipulator with prescribed degree of stability

    Nobuya Takahashi, Osamu Sato

    Artificial Life and Robotics, An International Journal, Springer   21 ( 4 ) 520 - 524   2016年12月  [査読有り]

    共著

    DOI

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著書 【 表示 / 非表示

  • ロボット工学

    編集者:坂田 勝共著者:下嶋 浩,佐藤 治 (担当: 共著 , 担当範囲: 1- 75頁,130-138頁 )

    森北出版(東京) 全148頁(分担)1- 75頁,130-138頁  1999年07月 ISBN: 4-627-60581-1

研究発表 【 表示 / 非表示

  • A study of robust control for a rolling object and beam system

    N.Takahashi, O.Sato, A.Sato, M.Yokomichi,H.Endo

    22nd International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2017年01月  -  2017年01月    Artificial Life and Robotics Co., Ltd.

  • A study on the vibration suppression of the manipulator with flexible element

    Toshiki Yagi, Asaji Sato,Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi

    22nd International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2017年01月  -  2017年01月    Artificial Life and Robotics Co., Ltd.

  • Analysis of manipulator in consideration of impact absorption between link and projected object

    Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi

    21st International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2016年01月  -  2016年01月    Artificial Life and Robotics Co., Ltd.

  • A study about control for rolling objects and beam system

    Yohei Yamashita, Asaji Sato, Osamu Sato

    21st International Symposium on Artificial Life and Robotics   (B-Con Plaza, Beppu, Oita )  2016年01月  -  2016年01月    Artificial Life and Robotics Co., Ltd.

  • Analysis of the two-link-manipulator in consideration of the horizontal motion about object

    Asaji Sato, Osamu Sato, Nobuya Takahashi, Masahiro Yokomichi

    20th International Symposium on Artificial Life and Robotics  (B-Con Plaza, Beppu, Oita)  2015年01月  -  2015年01月    Artificial Life and Robotics Co., Ltd.

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