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Dynamics Analysis on Underwater Articulated Structure without Parameter Estimation

无参数估计的水下铰接结构动力学分析

基本信息

批准号：
13450107
负责人：
KAWAMURA Sadao
金额：
$ 8.83万
依托单位：
Ritsumeikan University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450107/
关键词：
Underwater motions Iterative learning control Time scale transformation Joint toraue Parallel wire driven system

项目摘要

In this research, we propose a new method of dynamics analysis on joint torques of human arms and robot manipulators in underwater environments without parameter estimation. The research results are summarized as follow:[1] Iterative learning control for underwater robot manipulatorsThe effectiveness of iterative learning control was verified theoretically and experimentally. The single and three degrees of freedom underwater manipulators were utilized in the experiments. As a result, the, motion of the robots in the water was realized as precisely as that in the air.[2] Dynamics analysis on underwater robot manipulators based on learning control and time-scale transformationIn the proposed method, hydrodynamic terms such as added mass and drag and buoyancy were quantitatively evaluated without using parameter identification. Dynamics analysis on the single and three degrees of freedom manipulators was realized experimentally. The feedforward inputs for the manipulator control were for … More med from the method.[3] Measurement of joint torques of human motions using parallel wire driven systemsWe developed a parallel wire driven system for the measurements of joint torque of human motions. By using the system, the joint torque was precisely measured and the maximum error is within 0.2[Nm].[4] Iterative learning control for parallel wire driven systemsThe effectiveness of iterative learning control for parallel wire driven systems was verified theoretically and experimentally. Numerical simulations and experimental results showed the effects of the control performance.[5] Measurements of joint torques for arbitrary human motionsMeasurements of joint torques for arbitrary human motions were realized by the proposed method based on the parallel wire driven system and the iterative learning control. The validity was verified by some experiments.[6] Measurement of joint torques of human motions in underwater environment using parallel wire driven systemsMeasurements of joint torques for human motions in underwater environments were realized by the method based on the parallel-wire driven system and iterative learning control. In the method, hydrodynamic torques such as added mass and drag and buoyancy acting on human arms were quantitatively evaluated. Less

在本研究中，我们提出了一种新的方法，在水下环境中的人体手臂和机器人机械手的关节力矩的动力学分析，而无需参数估计。主要研究成果如下：[1]水下机器人操作臂的迭代学习控制理论和实验验证了迭代学习控制的有效性。实验中使用了单自由度和三自由度的水下机器人。因此，机器人在水中的运动与在空气中的运动一样精确。[2]基于学习控制和时标变换的水下机器人动力学分析在所提出的方法中，水动力学项，如附加质量和阻力和浮力定量评估没有使用参数识别。对单自由度和三自由度机械手进行了动力学分析。机械手控制的前馈输入为 ...更多信息从方法上讲。[3]利用平行丝驱动系统测量人体运动关节力矩我们研制了一套平行丝驱动系统，用于人体运动关节力矩的测量。利用该系统对关节力矩进行了精确测量，最大误差在0.2[Nm]以内。[4]平行丝驱动系统的迭代学习控制理论和实验验证了平行丝驱动系统迭代学习控制的有效性。数值仿真和实验结果表明了控制性能的影响。[5]基于并联柔丝驱动系统和迭代学习控制的关节力矩测量方法，实现了人体任意运动时关节力矩的测量。通过实验验证了该方法的有效性。[6]基于平行线驱动系统的水下人体运动关节力矩测量研究了基于平行线驱动系统和迭代学习控制的水下人体运动关节力矩测量方法。在该方法中，水动力扭矩，如附加质量和阻力和浮力作用于人体手臂定量评估。少

项目成果

期刊论文数量（156）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and experimental studies on iterative learning control for underwater robots"International Society of Offshore and Polar Engineering. Vol.2. 295-300 (2002)

Norimitsu Sakagami、Manabu Inoue、Sadao Kawamura：“水下机器人迭代学习控制的理论与实验研究”国际近海与极地工程学会。

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通讯作者：

川村貞夫, 谷口祥平, 木野仁, 金岡克弥, 石橋良太, 植村充典, 重歳憲治: "パラレルワイヤ駆動システムの学習制御を利用した水中環境における人体の関節トルク解析"第8回ロボティクスシンポジア. 12C4 (2003)

Sadao Kawamura、Shohei Taniguchi、Hitoshi Kino、Katsuya Kanaoka、Ryota Ishibashi、Mitsunori Uemura、Kenji Shigetoshi：“利用并行线驱动系统的学习控制分析人体在水下环境中的关节扭矩”第 8 届机器人研讨会 12C4（2003 年）。