書誌事項
- タイトル別名
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- Set-point Control for a Musculoskeletal System using Complementary Combination of a Sensory Feedback Including a Time-delay and a Muscular Internal Force Feedforward
- ムダジカン オ フクム カンカク フィードバック ト キン ナイリョク フィードフォワード ノ ソウホテキ クミアワセ ニ ヨル キンコッカク アーム ノ イチ セイギョ
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In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 34 (2), 143-152, 2016
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204728682624
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- NII論文ID
- 130005145385
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 027198872
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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
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可