松下 昭彦 (マツシタ アキヒコ)
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Last Updated :2025/06/07
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論文
- Image detection of seam line for laser welding robot
Akihiko Matsushita, Takafumi Morishita, Shun'ichi Kaneko, Hitoshi Ohfuji, Kaoru Fukuda
Journal of Robotics and Mechatronics, 23, 6, 919, 925, Fuji Technology Press, 2011年, ［査読有り］
英語, 研究論文（学術雑誌） - Image Measurement on Curvature Around Seam Line for Motion Control of Laser Welding Robot
松下 昭彦
Int. J. of Automation Technology, 4, 6, 536, 541, 2010年11月, ［査読有り］
英語, 研究論文（学術雑誌） - Basic Image Measurement for Laser Welding Robot Motion Control
松下 昭彦
Int. J. of Automation Technology, 3, 2, 136, 143, 2009年03月, ［査読有り］
英語 - A blowing-based method of detecting trunk and estimating root position for weeding mobile robots
Fan Zhang, Akihiko Matsushita, Shun'ichi Kaneko, Takayuki Tanaka
Proceedings of SPIE - The International Society for Optical Engineering, 7266, 2008年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス） - Simultaneous design of a control system and a controlled object using asymptotic characteristics of the control system
A Matsushita, T Tsuchiya
(SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3, 585, 590, 1998年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス） - Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle
A Matsushita, T Tsuchiya
PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 493, 494, 1998年, ［査読有り］
英語, 研究論文（国際会議プロシーディングス） - 制御系の漸近性質を用いた統合化設計
松下 昭彦, 土谷 武士
計測自動制御学会論文集, 32, 12, 1606, 1611, The Society of Instrument and Control Engineers, 1996年
Some approaches have been presented for integration of control system design and tuning of a controlled object. The integration is more effective than the general separate designs because parameters of the controlled object can influence the properties of the control system.
In this paper, we propose an application of optimal control system design using the asymptotic characteristics to the simultaneous design of a control system and a controlled object.
The optimal control system approaches to the decoupled control system as the weighting factors for the control input variables in quadratic performance index tend to zero. In the decoupled control system, the responses between the reference signal and the output signal of the controlled object aren't influenced by parameters of the controlled object. We propose the following simultaneous design method using these properties.
(1) In the design of the decoupled control system, the parameters of the controlled object are decided in order to minimize the magnitude of the control input.
(2) In the design of the optimal control system, the weighting factors are adjusted for trade off between the response speed of the controlled output and the magnitude of the control input.
By tuning of the controlled object in the decoupled control system, the design procedure becomes simpler than one in the optimal control system because the response speed of the controlled output is fixed by the selection of the weighting factors and is not changed with the parameters of the controlled object. - LPFループを用いたロバスト制御(LLR)および電気推進装軌式車両への応用
張 文農, 松下 昭彦
非干渉予見制御系の性質とその応用-計算むだ時間がある場合-, 31, 10, 1626, 1634, The Society of Instrument and Control Engineers, 1995年
日本語, This paper presents a practical design approach to m-input m-output plants of a given class which are characterized by a frequency-dependent uncertainty function around the transfer function of a stable and minimum-phase nominal model. The compensator includes a LPF (lowpass-filter) loop, which exhibits high gain in the low frequency-domain and low gain in the high frequency-domain. Hence, it can efficiently balance the trade-off between the problems of sensitivity and robust stability. We apply this type of compensator to control an electrical propelling caterpillar. The simulation and experimental results show the effectiveness and robustness of the controller. - 制御系構成法を用いたオンライン目標値計画
松下 昭彦, 土谷 武士
計測自動制御学会論文集, 30, 8, 917, 925, The Society of Instrument and Control Engineers, 1994年
日本語, In this paper, we propose an on-line planning method for a desired signal making use of on-line information of a control system.
On-line planning has the advantage of off-line planning in the following points.
In the off-line planning, a servo system deals with the influence of initial state values, disturbance and parameter perturbation. In the on-line planning, however, both the planning of the desired signal and the servo system deal with the influence. That is, the influence is reduced by changing the desired signal within its permitted domain.
However, processing time for the on-line planning should be shorter than that for the off-line planning. Therefore, the planner should be simple without any trial and error. The whole system with the planner and the control system should be stable because the planner uses the state of the control system.
In this paper, we propose an on-line planning method as follows. The permitted domain of the desired signal is expressed as parameters of the desired signal. By means of this expression, the planning and the design of the control system are replaced by the design for the controlled object having limitation of the desired signal.
This method has the following merits.
(1) Many methods proposed for design of control systems can be applied because the planning is included in the design of the control system.
(2) Processing time for the planning is short because the control rule of servo system is generally simple without any trial and error.
(3) The whole system with the planner and the control system is stable.
(4) Path planning is an expanded trajectory planning problem because a permitted domain of the desired signal for the trajectory planning is expressed as the scalar parameter of the desired signal and the domain for the path planning is expressed as parameters.
Further, this method is applied to a mobile robot and its simulation results are shown. - H∞制御によるPWMインバータの高周波抑制
松下 昭彦, 土谷 武士
計測自動制御学会論文集, 29, 2, 242, 244, The Society of Instrument and Control Engineers, 1993年
Design of PWM inverter pulse pattern is required to reduce harmonics generated by load change in output voltage. This paper shows this requirement is formulated as mixed sensitivity problem and proposes to apply H∞ control theory to this design.
その他活動・業績
- 2A1-E03 ステレオ計測におけるカメラ振動と視差誤差との関係に基づいた対象物認識(移動ロボットのための視覚)
岡崎 仲哉, 田中 孝之, 金子 俊一, 松下 昭彦, 高氏 秀則, 多田 達美, 大村 功, 鈴木 慎一, ロボティクス・メカトロニクス講演会講演概要集, 2008, "2A1, E03(1)"-"2A1-E03(4)", 2008年06月06日
This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using parameter of disparity error, and we use existing probability for position estimate. Specifically, we obtain visual information of without vibration or near offer in irregular ground through the use of relationship between parameter of camera vibration and parameter of error., 一般社団法人日本機械学会, 日本語 - 2P2-B09 レーザ溶接ロボットの位置・姿勢制御のための画像計測法(ロボットビジョン)
山中 将裕, 松下 昭彦, 金子 俊一, 田中 孝之, 大藤 仁志, 福田 薫, ロボティクス・メカトロニクス講演会講演概要集, 2008, 0, _2P2, B09_1-_2P2-B09_4, 2008年
Laser robot can weld more accurate than Arc welding. However, the accuracy of positional match is demanded. Then, the system the welding robot is equipped with the camera and slit beam irradiating to the welding object is assumed. And, the irradiated appearance is photographed. By giving geometrical analysis to the obtained beam image, laser robot is controlled. Here, as the preparation stage, about linear regression of beam for geometrical analysis is described., 一般社団法人 日本機械学会, 日本語 - ブローイング静動分離法による幹草判別
FAN Zhang, 田中孝之, 金子俊一, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2007, 1855, 1859, 2007年
英語 - Control system design with on-line planning for a desired signal and its application to robot manipulators
A Matsushita, T Tsuchiya, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 3, 2, 149, 152, 1998年06月
英語 - Robust Stabilization for Linear Systems with Parametric Variation Satisfying H_∞ Sensitivity Constraints
Zhang Wennong, Matsushita Akihiko, 計測自動制御学会論文集, 32, 6, 896, 903, 1996年
Until now, H∞ control theory has been aided by small gain or norm-bounding techniques to supply robust stability conditions. Many practical applications of robust feedback control involve constant real parameter uncertainty, whereas small gain or norm-bounding techniques guarantee robust stability against complex, frequency-dependent uncertainty, thus entailing undue conservatism and unnecessarily sacrificing performance. In thiss paper, we consider the robust stability by the Hurwitz criterion which is sufficient and necessary, and robust performance by satisfying an H∞ sensitivity constraint for an SISO minimum phase plant having parametric perturbation. We design the compensator so that the complementary sensitivity function is a low-pass filter function for an assumed nominal plant which does not necessarily exist in the family of real models. Thus the compensator robustly stabilizes the closed-loop system for a plant with large parametric variation. Furthermore, we obtain satisfactory performance in the low-frequency domain. Robust stability criteria, robust performance criteria and a number of assumptions are imposed. The satisfaction of these assumptions guarantees the existence of a proper compensator which satisfies mixed criteria., The Society of Instrument and Control Engineers, 英語 - 制御系の漸近性質を用いた統合化設計
松下 昭彦, 土谷 武士, 計測自動制御学会論文集, 32, 12, 1606, 1611, 1996年
Some approaches have been presented for integration of control system design and tuning of a controlled object. The integration is more effective than the general separate designs because parameters of the controlled object can influence the properties of the control system.
In this paper, we propose an application of optimal control system design using the asymptotic characteristics to the simultaneous design of a control system and a controlled object.
The optimal control system approaches to the decoupled control system as the weighting factors for the control input variables in quadratic performance index tend to zero. In the decoupled control system, the responses between the reference signal and the output signal of the controlled object aren't influenced by parameters of the controlled object. We propose the following simultaneous design method using these properties.
(1) In the design of the decoupled control system, the parameters of the controlled object are decided in order to minimize the magnitude of the control input.
(2) In the design of the optimal control system, the weighting factors are adjusted for trade off between the response speed of the controlled output and the magnitude of the control input.
By tuning of the controlled object in the decoupled control system, the design procedure becomes simpler than one in the optimal control system because the response speed of the controlled output is fixed by the selection of the weighting factors and is not changed with the parameters of the controlled object., The Society of Instrument and Control Engineers - Control System Design of a 3-Wheeled Vchicle with On-Line Preview Planning for a Desired Signal
Transactions of the Society of Instrument and control Engineering, 32, 6, 880, 886, 1996年 - Decoupled Preview Control System with Input Delaytime due to Processing Time and Its Application to Induction Motor Drive
Transactions of the Society of Instrument and Control Engineering, 32, 4, 525, 532, 1996年 - Control system design with on-line preview planning for desired signals
A Matsushita, T Tsuchiya, AMC '96-MIE - 1996 4TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, VOLS 1 AND 2, 2, 500, 505, 1996年
英語 - DECOUPLED PREVIEW CONTROL-SYSTEM AND ITS APPLICATION TO INDUCTION-MOTOR DRIVE
A MATSUSHITA, T TSUCHIYA, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 42, 1, 50, 57, 1995年02月
英語 - LPFループを用いたロバスト制御(LLR)および電気推進装軌式車両への応用
張 文農, 松下 昭彦, 計測自動制御学会論文集, 31, 10, 1626, 1634, 1995年
This paper presents a practical design approach to m-input m-output plants of a given class which are characterized by a frequency-dependent uncertainty function around the transfer function of a stable and minimum-phase nominal model. The compensator includes a LPF (lowpass-filter) loop, which exhibits high gain in the low frequency-domain and low gain in the high frequency-domain. Hence, it can efficiently balance the trade-off between the problems of sensitivity and robust stability. We apply this type of compensator to control an electrical propelling caterpillar. The simulation and experimental results show the effectiveness and robustness of the controller., The Society of Instrument and Control Engineers, 日本語 - On-line Planning for a Desired Signal and Its Application to Robot Manipulator
Akihiko Matsushita, Takeshi Tsuchiya, Journal of the Robotics Society of Japan., 13, 8, 1160, 1168, 1995年 - 制御系構成法を用いたオンライン目標値計画
松下 昭彦, 土谷 武士, 計測自動制御学会論文集, 30, 8, 917, 925, 1994年
In this paper, we propose an on-line planning method for a desired signal making use of on-line information of a control system.
On-line planning has the advantage of off-line planning in the following points.
In the off-line planning, a servo system deals with the influence of initial state values, disturbance and parameter perturbation. In the on-line planning, however, both the planning of the desired signal and the servo system deal with the influence. That is, the influence is reduced by changing the desired signal within its permitted domain.
However, processing time for the on-line planning should be shorter than that for the off-line planning. Therefore, the planner should be simple without any trial and error. The whole system with the planner and the control system should be stable because the planner uses the state of the control system.
In this paper, we propose an on-line planning method as follows. The permitted domain of the desired signal is expressed as parameters of the desired signal. By means of this expression, the planning and the design of the control system are replaced by the design for the controlled object having limitation of the desired signal.
This method has the following merits.
(1) Many methods proposed for design of control systems can be applied because the planning is included in the design of the control system.
(2) Processing time for the planning is short because the control rule of servo system is generally simple without any trial and error.
(3) The whole system with the planner and the control system is stable.
(4) Path planning is an expanded trajectory planning problem because a permitted domain of the desired signal for the trajectory planning is expressed as the scalar parameter of the desired signal and the domain for the path planning is expressed as parameters.
Further, this method is applied to a mobile robot and its simulation results are shown., The Society of Instrument and Control Engineers, 日本語 - H∞制御によるPWMインバータの高調波抑制
松下 昭彦, 土谷 武士, 計測自動制御学会論文集, 29, 2, 242, 244, 1993年
Design of PWM inverter pulse pattern is required to reduce harmonics generated by load change in output voltage. This paper shows this requirement is formulated as mixed sensitivity problem and proposes to apply H∞ control theory to this design., The Society of Instrument and Control Engineers - Asymptotic Characteristics of Optimal Preview Control System Using Characteristics of Decoupled Preview Control System
Transactions of the Society of Instrument and control Engineers., 29, 2, 230, 232, 1993年
共同研究・競争的資金等の研究課題
- 制御系構成法の拡張によるオンライン予見・予測計画についての研究
科学研究費助成事業
1997年 - 1998年
松下 昭彦
1. オンライン予見・予測目標値計画法の確立 マニピュレータなど制御対象に非線形性がある場合について、計算トルク法を用いる方法を開発した。2リンクマニピュレータに対して適用と実験を行い有効性を確認した。ただし、より一般的な非線形性に対しては適当な方法を開発するには至らなかった。一般的な適応制御やGPC(一般化予測制御)などを用いたオンライン予見・予測制御法について開発した。
2. 移動体への適用 移動体の走行制御について一般的な最適予見制御を用いた方法を開発し、計算機シミュレーションで有効性を確認した。また、実機で実験を行うために機材を購入し実験装置の制作を開始した。
(1) 車輪+駆動用モータを取り付け、専用のMotor Controllerで制御するシステムを製作した。
(2) 画像処理用CCDカメラの方向を上下左右可動にするためにステッピングモータボードを用意した。
(3) 三輪移動体の運動方程式は非線形性をもつが、非線形変数変換と状態フィードバック4こて線形化する方法による制御プログラムを開発した。
前方障害物の情報を取り入れるための視覚センサーやその情報処浬装置などを購入した。また、視覚情報から前方障害物の距離と方向を注出する方法を調査・考案した。
日本学術振興会, 奨励研究(A), 北海道大学, 09750464 - 未来情報を有効に利用するシステム設計
科学研究費助成事業
1997年 - 1998年
土谷 武士, 松下 昭彦, 江上 正
未来情報はシステムの計画立案、制御の決定に重要な役割を演ずる。未来情報を利用すことは動的制御系構成において有効であることは著者らの「ディジタル予見制御」の著書においてすでに成果が述べられているが.本研究ではトータルシステムとして、制御系のみならず計画立案や計測においても未来情報の利用を考えようとするものである。
目標値信号や未来値信号を利用して仮想的な目標値信号をいかに設計するかについて検討を加えその設計法を提案した。また経路制御を行う場合に、仮想的な座標軸を加えることにより経路制御性能の向上が期待できることを提案した。動的制御系の目標値信号をいかにして作るかという問題はこれまであまり考察されてこなかったが、未来情報を利用してより有効な目標値信号を設計する計画問題への展開を進めた。さらに人間の指令通りに動くシステム設計から議論を発展し、作業指令が与えられたら途中の計画は自分で行えるうな自律ロボットを考察対象とした。行動規範型移動ロボットのナビゲーションを対象としロボットは当初何ら他から情報を与えられていない状況から出発して、多くの枝路を含む経路網内でロボットが徘徊により情報収集し、その結果環境を認識する。ついでその経路網内にゴールを与えられた場合、ロボットはこれまでに得られた知識を基にしてゴールに到達する方策についていかに計画立案すべきかについての考察を行った。しかも経路網内は動的に変化することすなわち動的環境を想定している。これらも含めて今後のシステム設計の方向ずけについて総括的な考察を加え、システム制御関係の新しい方向に指針を与えることができた。
日本学術振興会, 基盤研究(C), 北海道大学, 09650449 - 制御系の統合化設計
競争的資金 - オンライン目標値計画
競争的資金 - Simnltaneous Design of a Control System
競争的資金 - On-line planning for desired signal
競争的資金
