Dynamic motion of two-link arms with different link lengths using singularities

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P3

ウンドウガクテキ コウソク オ ウケル キカイ システム ノ セイギョ

京都大学0048新制・課程博士博士(工学)甲第9142号工博第2085号新制||工||1218(附属図書館)UT51-2001-K349京都大学大学院工学研究科航空宇宙工学専攻(主査)教授 土屋 和雄, 教授 井上 紘一, 教授 吉川 恒夫学位規則第4条第1項該当Doctor of EngineeringKyoto UniversityDA

Novel Process Noise Model for GNSS Kalman Filter Based on Sensitivity Analysis of Covariance with Poor Satellite Geometry

One of the great unsolved GNSS problems is inaccuracy in urban canyons due to Non-Line-Of-Sight (NLOS) signal reception. Owing to several studies about the NLOS signal rejection method, almost all NLOS signals can be excluded from the calculation of the position. However, such precise NLOS rejection would make satellite geometry poor, especially in dense urban environments. This paper points out, through numerical simulations and theoretical analysis, that poor satellite geometry leads to unintentional performance degradation of the Kalman filter with a conventional technique to prevent filter divergence. The conventional technique is to bump up process noise covariance, and causes unnecessary inflation of estimation-error covariance when satellite geometry is poor. We propose a novel choice of process noise covariance based on satellite geometry that can reduce such unnecessary inflation. Numerical and experimental results demonstrate that performance improvement can be achieved by the choice of process noise covariance even for a poor satellite geometry

Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification

<p>This paper reveals the advantageous feature of singular configuration for a two-link mobile manipulator by theoretical analysis, numerical simulations and experiments. When a mobile manipulator drags a heavy object on a flat floor, a large pull force is required to overcome the friction force between the object and the floor. In the motion obtained by numerical optimization, unlike humans, a two-link mobile manipulator pulls the object with a large force by passing through singular configuration. We analyze theoretically the force applied to the object by the manipulator under several assumptions, and show that a large pull force can be generated near singular configuration from the energy stored in the manipulator. The feasibility of the motion obtained by numerical optimization is also shown by experimental results.</p