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An Improved Algorithm for Computing Transfer Function Matrices of Descriptor Systems
Akitoshi Mutsuro,Masanobu Koga 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
In this paper, we propose a numerically reliable algorithm for computing the transfer function matrix of a descriptor system. Descriptor system has widely been used. The system often arises when modelling a linear system. Linear systems such as inversion are often represented in terms of descriptor systems. Although the representation is useful, it is not appropriate for simulation and experiment. A remedy for the problem is transforming proper descriptor system into state space system by way of transfer function matrix. Numerical algorithm for computing the transfer function matrix of a descriptor system has been reported. The algorithm makes use of QZ decomposition which can be used for computing generalized eigenvalues of a matrix pencil. However, when matrices have the repeated eigenvalues, numerical errors can be generated by using the method. Furthermore, since the theory of the algorithm is based on power method which needs iterative computation, the convergence time would be slower at that time. We propose an algorithm that avoids solving generalized eigenvalue problem. Since our algorithm avoids QZ decomposition, the repeated eigenvalues does not matter. Moreover, the computational time can be estimated.
Augmented Reality Display of Robot with Graphs of Property Response Using Its USD Model
Kazuki Tsukamoto,Masanobu Koga 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This study proposes a method that can easily grasp the relationship between the actual machine and the graphs. In recent years, there has been a lot of research on augmented reality displays. The fields of research range from education to welfare. In the development of control systems, when evaluating the performance of a system by simulation or experiment, the results are often checked as graphs. Since the graphs are checked on a PC using CAD or other means, it is difficult to know which part of the actual machine each graph corresponds to. Therefore, we developed a tool that displays graphs in augmented reality around the actual machine through a camera on a mobile terminal. To display graphs in augmented reality, it is important to obtain the coordinates of the actual machine and display them in a location associated with the device. Therefore, a USD model with the same shape and size as the actual machine is used. This is achieved by displaying the USD model in augmented reality so that it is superimposed on the actual machine. The accuracy of the tool was also examined and its usefulness was evaluated.
An Extension of glTF for Robot Description
Ryoya Izawa,Masanobu Koga 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
In this paper, we propose a new 3D file format RDTF, which is compatible with glTF and can be used for robots simulation. Since RDTF is an extension of glTF, RDTF file can be used with tools that support glTF. It is worth mentioning that there are many existing glTF models[3] which can be transformed to RDTF.
Kentaro Yano,Hiromasa Nakashima,Masanobu Koga 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a control system design method based on numerical computation with highly guaranteed accuracy using multiple-precision arithmetic. By using the proposed methods, it is possible to guarantee the numerical quality about the design of control system with the very high accuracy which is impossible to compute by usual double precision arithmetic. We also propose a method to find the controller which minimizes an evaluation function for the design specification quickly by using multiple-precision arithmetic and Krawczyk method. And, this paper applies the proposed method to LQ control problem.