Development of Acquisition Technique of Autonomous Distributed Control Rules for Postures and Locus of Large Scale Adaptive Structures, and Construction of Variable Geometry Truss

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(1) Development of Acquisition Technique of Autonomous Distributed Control Rules for Variable Geometry Trusses : A genetic acquisition technique of autonomous distributed control rules has been developed for the posture control of arm-type variable geometry trusses(VGT), which consist of serial connection of unit truss module including variable length member and are applied working load as end effecter. This technique can acquire the control rules automatically which achieve optimum posture for any given initial postures and locus. The validity of the acquired control rules is confirmed by the numericalsimulation of adaptation.(2) Modeling of Autonomous Stabilization Rule of Variable Geometry Truss against Dynamic Loading : A genetic acquisition technique of autonomous distributed control rules of vibration suppression against the disturbance and vibration caused by inertia force during adaptation has been developed for VGT equipped sensors and active dumpers in each module.(3) Construction of Three-Dimensional Variable Geometry Truss : A three-dimensional truss structure which consists of five octahedral truss module of six fixed members and three variable members with sensors is constructed. The variable length members are realized by the ball screw and stepping motor, and the autonomous distributed control has been implemented by sensing the end effecter position by a pair of CCD camera. The validity of the control rule for attaining the maximum stiffness posture has been confirmed experimentally.