産業分類 ： 製造業
アピールポイント
● 繰り返し動作するロボットの精密制御
● 突発的な接触に対するロボットの柔軟制御
● 制御アルゴリズムによる付加的な実装
アピールポイント
● 繰り返し動作するロボットの精密制御
● 突発的な接触に対するロボットの柔軟制御
● 制御アルゴリズムによる付加的な実装
研究者のねらい
【成果】繰り返し動作を行う産業用ロボットの精度向上と人間協働に関する制御技術を開発した．
【独自技術①】周期外乱オブザーバ：産業用ロボットの繰り返し動作に伴う周期性に着目し，その動作精度を向上させた．
【独自技術②】周期／非周期分離制御：繰り返し動作精度を損なうことなく，突発的な接触に対して柔軟な動作を制御的に実現した．
【新規性】周期性と非周期性に着目した制御はこれまで無かった．さらに，周期動作と非周期動作へ独立した分離制御を実現した．
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【独自技術①】周期外乱オブザーバ：産業用ロボットの繰り返し動作に伴う周期性に着目し，その動作精度を向上させた．
【独自技術②】周期／非周期分離制御：繰り返し動作精度を損なうことなく，突発的な接触に対して柔軟な動作を制御的に実現した．
【新規性】周期性と非周期性に着目した制御はこれまで無かった．さらに，周期動作と非周期動作へ独立した分離制御を実現した．',
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【2】H. Muramatsu and S. Katsura, IEEJ Journal of Industry Applications, 2019.
【3】H. Muramatsu and S. Katsura, Automatica, 2019.
【4】H. Muramatsu and S. Katsura, IEEE Transactions on Industrial Electronics, 2020.',
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【独自技術①】周期外乱オブザーバ：産業用ロボットの繰り返し動作に伴う周期性に着目し，その動作精度を向上させた．
【独自技術②】周期／非周期分離制御：繰り返し動作精度を損なうことなく，突発的な接触に対して柔軟な動作を制御的に実現した．
【新規性】周期性と非周期性に着目した制御はこれまで無かった．さらに，周期動作と非周期動作へ独立した分離制御を実現した．',
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【2】H. Muramatsu and S. Katsura, IEEJ Journal of Industry Applications, 2019.
【3】H. Muramatsu and S. Katsura, Automatica, 2019.
【4】H. Muramatsu and S. Katsura, IEEE Transactions on Industrial Electronics, 2020.',
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(int) 0 => '41'
]
$categorylists = [
(int) 0 => ''
]
$mainphotourl = '/resized_tmp/users/3960/profile.jpg'
$mainphotobase = '/var/www/vhosts/hutdb.hiroshima-u.ac.jp/httpdocs/resized_tmp/users/3960'
$notfound = (int) 0
$exists = (int) 1
$nameparts = ' 大学院先進理工系科学研究科 村松 久圭 助教'
$nameparts_en = ' '
$category = ' '
$profileparts = '<img src="/resized_tmp/users/3960/profile.jpg" style="max-width:150px;" class="img-thumbnail" alt=""/>'
$categoryparts = '<span style="float:right;font-size:1.4em;">産業分類 ： 製造業</span>'
$categoryparts_blowser = '<p class="hidden-print">産業分類 ： 製造業</p>'
$profile = (int) 0
$idkey = 'https://seeds.office.hiroshima-u.ac.jp/profile/ja.6c5cf15ef243342f520e17560c007669'
$photourl = 'http://seeds.office.hiroshima-u.ac.jp/profile/image/portrait/https://seeds.office.hiroshima-u.ac.jp/profile/ja.6c5cf15ef243342f520e17560c007669.jpg'
$photourl2 = 'https://seeds.office.hiroshima-u.ac.jp/profile/image/portrait/https://seeds.office.hiroshima-u.ac.jp/profile/ja.6c5cf15ef243342f520e17560c007669.jpg'
$i = (int) 5
$photoparts = '<div class="pl20 pr20"><div class="row photos"></div><!-- row --></div>'
$cnt = (int) 0
$thename = 'p4'
$thenum = (int) 4
$filename = '4.jpg'
$tmp1 = '/var/www/vhosts/hutdb.hiroshima-u.ac.jp/httpdocs/files_tmp/seedtmps/1160/4.jpg'
$tmp2 = '/var/www/vhosts/hutdb.hiroshima-u.ac.jp/httpdocs/files/4.jpg'include - APP/Template/Seeds/view.ctp, line 687
Cake\View\View::_evaluate() - CORE/src/View/View.php, line 1435
Cake\View\View::_render() - CORE/src/View/View.php, line 1393
Cake\View\View::render() - CORE/src/View/View.php, line 892
Cake\Controller\Controller::render() - CORE/src/Controller/Controller.php, line 791
Cake\Http\ActionDispatcher::_invoke() - CORE/src/Http/ActionDispatcher.php, line 126
Cake\Http\ActionDispatcher::dispatch() - CORE/src/Http/ActionDispatcher.php, line 94
Cake\Http\BaseApplication::__invoke() - CORE/src/Http/BaseApplication.php, line 256
Cake\Http\Runner::__invoke() - CORE/src/Http/Runner.php, line 65
Cake\Http\Runner::__invoke() - CORE/src/Http/Runner.php, line 65
Cake\Http\Middleware\CsrfProtectionMiddleware::__invoke() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 133
Cake\Http\Runner::__invoke() - CORE/src/Http/Runner.php, line 65
Cake\Http\Runner::run() - CORE/src/Http/Runner.php, line 51
Cake\Routing\Middleware\RoutingMiddleware::__invoke() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 170
Cake\Http\Runner::__invoke() - CORE/src/Http/Runner.php, line 65
Cake\Routing\Middleware\AssetMiddleware::__invoke() - CORE/src/Routing/Middleware/AssetMiddleware.php, line 88
Cake\Http\Runner::__invoke() - CORE/src/Http/Runner.php, line 65
研究内容
備考
【1】H. Muramatsu and S. Katsura, IEEE Transactions on Industrial Informatics, 2018.
【2】H. Muramatsu and S. Katsura, IEEJ Journal of Industry Applications, 2019.
【3】H. Muramatsu and S. Katsura, Automatica, 2019.
【4】H. Muramatsu and S. Katsura, IEEE Transactions on Industrial Electronics, 2020.
