Paper Abstract and Keywords |
Presentation |
2017-03-14 10:15
Adjustment of virtual trajectory in repetitive control of a multi-link arm Yusuke Oshima, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2016-75 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
It is difficult to select suitable gain in conventional feedback control. The value of feedback gain is sometimes determined by trial and error. In this study, applying virtual trajectory control developed in the field of human movement control analysis to trajectory control of multi-joint arm, we propose a method of control without adjustment of feedback gain. We confirmed by computer simulation of a five-link arm that the desired trajectory can be achieved by some iteration. It is possible to generate the exact same trajectory by the modification of the virtual trajectory corresponding to the alteration of feedback gain. We examined the usefulness of the alteration of feedback gain using disturbance response. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
virtual trajectory control / repetitive control / feedback gain / multi-joint arm / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 116, no. 521, NC2016-75, pp. 67-72, March 2017. |
Paper # |
NC2016-75 |
Date of Issue |
2017-03-06 (NC) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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NC2016-75 |
Conference Information |
Committee |
MBE NC |
Conference Date |
2017-03-13 - 2017-03-14 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Kikai-Shinko-Kaikan Bldg. |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
NC |
Conference Code |
2017-03-MBE-NC |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Adjustment of virtual trajectory in repetitive control of a multi-link arm |
Sub Title (in English) |
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virtual trajectory control |
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repetitive control |
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feedback gain |
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multi-joint arm |
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1st Author's Name |
Yusuke Oshima |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
Takahiro Kagawa |
2nd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Yoji Uno |
3rd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2017-03-14 10:15:00 |
Presentation Time |
25 minutes |
Registration for |
NC |
Paper # |
NC2016-75 |
Volume (vol) |
vol.116 |
Number (no) |
no.521 |
Page |
pp.67-72 |
#Pages |
6 |
Date of Issue |
2017-03-06 (NC) |