Hideaki Kanoh

Distributed parameter models of flexible robot arms

The modelling of a flexible robot arm is concerned with its rigid body motion as well as its oscillation due to the elasticity of the arm [1-4]. As the elastic deformation is distributed along the arm, it is obvious that this system is a distributed parameter system. Although a set of partial differential equations is presumed to be the best model for this system, it is limited to a relatively low frequency oscillation of a homogeneous, simply shaped arm. In the case of a more complicated flexible arm, the partial differential equation model is not necessarily advantageous, and another method such as the finite element method will be used. First, this paper presents the detailed development of the partial differential equations and boundary conditions for two models of a flexible robot arm. One is a rigorous model obtained through the use of Timoshenko beam theory, which takes into account the effect of transverse shear deformation and rotary inertia; the other is a simpler and more frequently used model ...

On Properties of Transfer Functions of a Flexible Structure

Abstract A flexible arm is the distributed parameter system with infinite number of eigenvalues. Its transfer function can be calculated directly from the partial differential equation model by using the Laplace transformation. On the other hand, two approaches of the modal analysis; the unconstrained mode method and the constrained mode method are employed to construct infinite dimensional lumped parameter dynamical system models by expanding the elastic deformation, which make two kinds of transfer functions. We obtain three different but equivalent transfer functions for the same system. Comparison of these transfer functions yields relationships on eigenvalues and parameters of these systems. To this end, the distributed parameter model transfer function is expressed as a ratio of two transcendental entire functions and these are expanded in infinite products. It is shown that the poles of unconstrained model transfer function and zeros of the constrained model transfer function coincide with those of the distributed parameter transfer function respectively.

Modeling of a Two-Wheeled Vehicle Compensated for Exact Contact of the Wheel to the Ground Plane and Simulation

This research proposes a kinematics and a dynamics models of a two-wheeled vehicle, such as a bicycle or a motorcycle. The modeling of the two-wheeled vehicle has been studied extensively for many years, this paper derives a more exact kinematic model by adding a holonomic condition which compensates exact contact of the front wheel to the ground plane against the handle operation. Using the Lagrange equation subject to the holonomic condition and five non-holonomic conditions for the rear and front wheels, a dynamic model of the two-wheeled vehicle is also derived. Simulation results are given for the kinematic motion and dynamic motion

Learning of biological behaviour by classifier

This paper investigates biological features of a virtual creature on the computer. It is assumed that the creature does not have a complex judgement, a sophisticated detector and has simple basic actions. The classifier system is used for the generation of its behaviour in a complicated environment made in the computer. The results show that the complicated action is generated by a series of simple actions, and that the complex action depends on a complex environment (attraction to the bait, escape from the enemy and avoidance of the obstacle), the aspect of acquisition of the new behaviour pattern is examined in detail.

Design of Robust PID Parameters for Distributed Parameter Processes

Abstract A design method is proposed for a two disk type mixed sensitivity problem for a distributed parameter system whose transfer functions become transcendental functions. The controller is assumed to be PID type. In this paper, a method of systematical design of robust controllers in visualized manner is proposed. The gains of the controller are treated in a parameter plane where three inequality conditions one regarding stability and two regarding sensitivity and complementary sensitivity functions - are plotted. An intersection of these three areas satisfies the given robust conditions and stability condition. As this method essentially requires only the frequency response data and not necessarily require an exact mathematical model, thus it is versatile and applicable to practical problems. A heat exchanger is taken as an example of a distribution parameter process. By the experiment of the process with disturbances or parameter changes, we confirm the robustness of the controller designed by this method.

Application of H/sub /spl infin// control to a vibration system using air jet propulsion

This paper deals with a vibration control using air jet propulsion. To study its effect, a two links pendulum with a pair of air jet actuators is used as control object. The purpose of the control design is to reject disturbances. We use a simple one link pendulum as a design model. By using identification result of an unmodeled dynamics, we design an H/sub /spl infin// controller to suppress its vibration. In the experiment, we show the effect of air jet propulsion and robust control.

Circle Condition of Optimal Regulator for Mixed Parameter Systems

Abstract Most investigations on distributed parameter systems (DPS) treat only pure DPS. In practice a control system for DPS is constructed by a finite number of sensors, actuators and usually by a finite dimensionalcontroller. The resultant closed-loop system becomes naturally a coupled system of both a distributed parameter system and a lumped parameter system(LPS). This paper investigates an optimal control of a such coupled system as “Mixed parameter system”(MPS). In this paper we formulate an optimal regulator problem for MPS at first, and we derive a circle condition of MPS from an infinite dimensional Riccati type partial differential equation. This condition guarantees that optimal regulators have low sensitivity and a larger stability margin.

Control of Heat Exchangers by Placement of Closed-Loop Poles

Abstract This paper is concerned with the placement of the closed-loop poles of distributed parameter heat exchangers having no finite open-loop poles via a linear feedback control law. To use eigen function expansion technique, the system is applied a siaple output feedback which yields countable finite poles. Modal control is used to place the poles at assigned locations without loving the rest of poles.