Motion Control Taking Environmental Information into Account
Motion Control Taking Environmental Information into Account
复制标题
考虑环境信息的运动控制
DOI：
10.1080/09398368.2002.11463516
复制
发表时间：
2002
期刊：
影响因子：
0.5
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
M. Morisawa;K. Ohnishi
运动系统的单控制一直是运动控制领域的研究热点。然而，未来的机器或机器人将在我们的社会中传播，他们将在一个开放的环境中创造自己的概念。由于这样的环境有很多的模式，运动控制器的设计方法，以适应环境是必要的。本文提出了一种从环境中挖掘模式的新观点。使用阿达玛矩阵的抽象的两个例子。一种是无摩擦驱动，另一种是步行机的桨脚控制。从环境到最终姿态的模态传递应根据情况自适应地改变。文中给出了数值算例和实验算例。他们显示了可行性的新方法的顺应运动。
Abstract Much effort has heen concentrated on the control of a single control of motion system. However future machine or robots will he spread out in our society and they will make their notion in an open environment. Since such an environment has a lot of modes, a design methodology of motion controller to be adaptive to the environment is required. The paper shows a novel viewpoint to quarry the modes from environment. Two examples of an abstraction using Hadamard matrix are shown. One is a friction-free drive and the other is a control of a paddle foot for walking machine. Modal transmission from environment to the final posture should change adoptively according to the situation. There are numerical and experimental examples in the paper. They show the viability of novel approach to the compliant motion.