書誌事項
- タイトル別名
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- Optimization Problems of Power Assist System Using Model Predictive Control with Constraints
抄録
<p>The authors have proposed a power assist system using model predictive control that can predict the future torque trajectory and the future displacement trajectory in real time by merely inputting the torque for human's single joint motion support. However, when assisting human's single joint motion, it is required to restrict state variables from the viewpoint of safety, so it is necessary to formulate a nonlinear optimization problem. Therefore, constrained nonlinear optimization problem is formulated for proposed system model prediction control system and performed numerical simulation.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2018 (0), 2A1-D13-, 2018
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001288104349568
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- NII論文ID
- 130007551522
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可