劣駆動ロボットの安定倒立制御のための異なるサンプリング周期の実装

• 井上 貴浩

  東京電大

• 貞光 宏樹

  セイコーエプソン株式会社

• 浅海 康平

  東京電大院

書誌事項

タイトル別名

• Different Sampling-period Implementation for Stable Upright-control of Underactuated Robots

抄録

This paper newly proposes implementation of stable control strategy for underactuated inverted pendulum robots, in which the controller system has different two sampling periods within its control scheme. This robot is usually regarded as rotary inverted pendulum, and has a couple of links, one DC motor, and two rotary encoders. We introduce two different sampling periods into each link controller, and try to change the period so that, for example, the period of 1st link is set as 10ms when that of 2nd link becomes half of the period. Even in this condition, stable upright position control of the pendulum robot can be realized by means of conventional LQR control method.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2019 (0), 2A2-C07-, 2019

  一般社団法人 日本機械学会

キーワード

• Inverted pendulum
• LQR
• Sampling period
• Noise filter
• Encoder resolution

詳細情報

• CRID: 1390846609787025152
• NII論文ID: 130007774808
• DOI: 10.1299/jsmermd.2019.2a2-c07
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2A2-C07/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可