The Experts below are selected from a list of 152859 Experts worldwide ranked by ideXlab platform
Daigoro Isobe - One of the best experts on this subject based on the ideXlab platform.
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A torque-canceling system using the inverse dynamics Parallel Solution scheme
Advanced Robotics, 2013Co-Authors: Daigoro Isobe, Bumpei Nakayama, Kensuke KondoAbstract:A new torque-canceling system (TCS) that stabilizes mechanical sway of robots in motions with large inertia by considering the dynamics of the robot itself is discussed in this paper. The TCS cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The dynamics and the reaction moments are calculated using an inverse dynamics Parallel Solution scheme that handles the dynamics of complex robotic structures by modeling them with finite elements. Once the reaction moment is known, it is canceled by applying an anti-torque to a torque-generating device. The TCS was verified by a simple experimental setup that enables rotational motion around a single axis in the previous paper. However, the effect of the TCS was not confirmed on those cases where mechanical sways are generated not only in the rotational axis of a rotor but also in the orthogonal axis. Therefore, those cases are tested to confirm the function of the TCS...
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ICRA - A torque cancelling system using the Parallel Solution scheme
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Daigoro Isobe, Yasumasa Matsui, Kensuke KondoAbstract:A new torque cancelling system (TCS) that stabilizes mechanical sway in quick-motion robots is discussed in this paper. It cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The reaction moment can be obtained accurately using the Parallel Solution scheme of inverse dynamics, which handles the dynamics of complex robotic architectures by modeling them with finite elements. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque generating device. In this paper, the general concepts of the TCS and the Parallel Solution scheme are first described. Then, some examples of torque cancelling due to accurate calculations of dynamics are demonstrated, by showing the experimental results carried out on a prototype TCS system. The objects used in the experiments include rigid and flexible, outboard and inboard links, where difficult assumptions are normally required to consider the accurate dynamics.
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Inverse dynamics calculation of underactuated link systems using Parallel Solution scheme
2008 34th Annual Conference of IEEE Industrial Electronics, 2008Co-Authors: Daigoro Isobe, Kouji Yamanaka, Yuto KitamuraAbstract:A general-purpose Solution scheme of inverse dynamics for link systems was developed on the basis of a finite element approach. It can not only deal with different types of configurations, such as open-loop, closed-loop, or multibranch link systems, but also with the elasticity of constituted links without the need to revise any part of the scheme. The main objective of this study is to extend the use of the scheme by applying the inverse dynamics calculations to several types of underactuated link systems. A Solution scheme of kinematics is also developed on the basis of the finite element method in order to calculate target trajectories that compensate for the inertial forces acting in the systems. The obtained trajectories are fed into the inverse dynamics calculation using the Parallel Solution scheme. The torque values are verified through comparison with the input moment used in finite element analyses, and the validity of the Parallel Solution scheme is confirmed.
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2P1-B06 Feed-Forward Control of a Robotic Mechanism Using Parallel Solution Scheme
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007Co-Authors: Kouji Yamanaka, Hiromasa Ueda, Daigoro IsobeAbstract:In this paper, the Parallel Solution scheme is applied to the inverse dynamics computation of a robotic mechanism, and is implemented into a control system. This paper explains the process of the joint torque calculation by the Parallel Solution scheme and the outline of the robotic mechanism. Some control experiments are carried out on the robotic mechanism, with feed-forward plus feedback control, in comparison with single feedback control system. The results indicate the validity of the Parallel Solution scheme in feed-forward control of actual robotic mechanism.
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A Parallel Solution scheme for inverse dynamics of link mechanisms
JSME International Journal Series C, 2003Co-Authors: Daigoro Isobe, Daisaku Imaizumi, A. YagiAbstract:In this paper, a three-dimensional Parallel Solution scheme for inverse dynamics of link mechanisms is described, which is already proposed in a two-dimensional case and applied in several in-plane motions. In this theory, the entire system is subdivided into finite elements and evaluated as a continuum. A single-link structure of a pin joint and a rigid bar is expressed by using the shifted integration (SI) technique, which is usually used in finite element analyses of framed structures. This scheme calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled in Parallel. The obtained nodal forces are then converted to the joint torque in the system. Simple numerical tests on two-dimensional and three-dimensional open-loop link mechanisms are carried out to compare them with other schemes, and some tests on closed-loop and continuously transforming mechanisms are carried out to confirm the flexibility of the scheme.
Kensuke Kondo - One of the best experts on this subject based on the ideXlab platform.
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A torque-canceling system using the inverse dynamics Parallel Solution scheme
Advanced Robotics, 2013Co-Authors: Daigoro Isobe, Bumpei Nakayama, Kensuke KondoAbstract:A new torque-canceling system (TCS) that stabilizes mechanical sway of robots in motions with large inertia by considering the dynamics of the robot itself is discussed in this paper. The TCS cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The dynamics and the reaction moments are calculated using an inverse dynamics Parallel Solution scheme that handles the dynamics of complex robotic structures by modeling them with finite elements. Once the reaction moment is known, it is canceled by applying an anti-torque to a torque-generating device. The TCS was verified by a simple experimental setup that enables rotational motion around a single axis in the previous paper. However, the effect of the TCS was not confirmed on those cases where mechanical sways are generated not only in the rotational axis of a rotor but also in the orthogonal axis. Therefore, those cases are tested to confirm the function of the TCS...
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ICRA - A torque cancelling system using the Parallel Solution scheme
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Daigoro Isobe, Yasumasa Matsui, Kensuke KondoAbstract:A new torque cancelling system (TCS) that stabilizes mechanical sway in quick-motion robots is discussed in this paper. It cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The reaction moment can be obtained accurately using the Parallel Solution scheme of inverse dynamics, which handles the dynamics of complex robotic architectures by modeling them with finite elements. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque generating device. In this paper, the general concepts of the TCS and the Parallel Solution scheme are first described. Then, some examples of torque cancelling due to accurate calculations of dynamics are demonstrated, by showing the experimental results carried out on a prototype TCS system. The objects used in the experiments include rigid and flexible, outboard and inboard links, where difficult assumptions are normally required to consider the accurate dynamics.
C P T Groth - One of the best experts on this subject based on the ideXlab platform.
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Parallel Solution adaptive method for two dimensional non premixed combusting flows
Progress in Computational Fluid Dynamics, 2011Co-Authors: Scott Northrup, C P T GrothAbstract:A Parallel Adaptive Mesh Refinement (AMR) algorithm is proposed and applied to the predictions of both laminar and turbulent steady non-premixed compressible combusting flows. The Parallel Solution-adaptive algorithm solves the system of partial-differential equations governing two-dimensional axisymmetric laminar and turbulent compressible flows for reactive thermally perfect gaseous mixtures using a fully coupled finite-volume formulation on body-fitted multi-block quadrilateral mesh. Numerical results for co-flow laminar and turbulent diffusion flames are described and compared to available experimental data. The numerical results demonstrate the validity and potential of the Parallel AMR approach for predicting both fine-scale features of laminar and complex turbulent non-premixed flames.
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a Parallel Solution adaptive method for three dimensional turbulent non premixed combusting flows
Journal of Computational Physics, 2010Co-Authors: C P T GrothAbstract:A Parallel adaptive mesh refinement (AMR) algorithm is proposed and applied to the prediction of steady turbulent non-premixed compressible combusting flows in three space dimensions. The Parallel Solution-adaptive algorithm solves the system of partial-differential equations governing turbulent compressible flows of reactive thermally perfect gaseous mixtures using a fully coupled finite-volume formulation on body-fitted multi-block hexahedral meshes. The compressible formulation adopted herein can readily accommodate large density variations and thermo-acoustic phenomena. A flexible block-based hierarchical data structure is used to maintain the connectivity of the Solution blocks in the multi-block mesh and to facilitate automatic Solution-directed mesh adaptation according to physics-based refinement criteria. For calculations of near-wall turbulence, an automatic near-wall treatment readily accommodates situations during adaptive mesh refinement where the mesh reSolution may not be sufficient for directly calculating near-wall turbulence using the low-Reynolds-number formulation. Numerical results for turbulent diffusion flames, including cold- and hot-flow predictions for a bluff-body burner, are described and compared to available experimental data. The numerical results demonstrate the validity and potential of the Parallel AMR approach for predicting fine-scale features of complex turbulent non-premixed flames.
Yasumasa Matsui - One of the best experts on this subject based on the ideXlab platform.
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ICRA - A torque cancelling system using the Parallel Solution scheme
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Daigoro Isobe, Yasumasa Matsui, Kensuke KondoAbstract:A new torque cancelling system (TCS) that stabilizes mechanical sway in quick-motion robots is discussed in this paper. It cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The reaction moment can be obtained accurately using the Parallel Solution scheme of inverse dynamics, which handles the dynamics of complex robotic architectures by modeling them with finite elements. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque generating device. In this paper, the general concepts of the TCS and the Parallel Solution scheme are first described. Then, some examples of torque cancelling due to accurate calculations of dynamics are demonstrated, by showing the experimental results carried out on a prototype TCS system. The objects used in the experiments include rigid and flexible, outboard and inboard links, where difficult assumptions are normally required to consider the accurate dynamics.
Mark Ladlow - One of the best experts on this subject based on the ideXlab platform.
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A novel phase-switching protecting group for multi-step Parallel Solution phase synthesis
Organic & biomolecular chemistry, 2004Co-Authors: Chris Abell, Miles S. Congreve, Brian H. Warrington, Mark LadlowAbstract:A new phase-tag 1 which facilitates the Parallel Solution phase synthesis of carboxylic acids, esters, and carboxamides is reported. The new phase tag assists compound purification by enabling the selective resin capture of reaction products in either a reversible pH dependent manner (solid-phase extraction), or irreversibly in a Diels–Alder reaction.
