並列的解法を用いた可変形態リンク系のフィードフォワード制御
Feed-Forward Control of Continuously Transforming Link Systems by Using a Parallel Solution Scheme

Abstract


 有限要素法を用いた並列的逆動力学計算法は,境界条件が変化するリンク系でもその動力学方程式を変更する必要がなく,計算がスムーズに行われる.本報告では,開→閉状態へと移行するリンク系でフィードフォワード制御実験を行い,これを実証した.


In this paper, a three-dimensional parallel solution scheme of inverse dynamics using Finite Element Method (FEM) is implemented in a control system for link mechanisms. Joint torques of link mechanisms are calculated in parallel, and also incrementally, in the calculation scheme. Therefore, information from the entire system can be handled in parallel, which makes it seamless in application to open/closed-loop or continuously transforming mechanisms. The performance of the control system is evaluated under actual control with dynamics compensation, and some control experiments are carried out using a two-dimensional, nongear link mechanism, which can transform continuously from an open- to a closed-loop mechanism.


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