Studies on Control Strategy for Multi-body Systems and Studies on Dynamic Mass Measurement

We can take each of the machines as a system that is composed of many parts including adjacent parts that are connected by a joint so that they can move relative to each other. We can typically assume that each part is rigid enough that it will never bend or twist while in motion. Such a part is called a rigid body. We can consider industrial robotic arms and even automobiles as systems with rigid bodies. When the rigid bodies in the system move, various forces are applied to the system from the inside. Then, we must ask, what is the relationship between the forces and the motions of the rigid bodies? In the control engineering laboratory, we study such problems for mechanical systems and try to control or measure the mechanical values of the system in order to obtain effective control methods. We also try to obtain effective estimation methods for some mechanical values of the system (including total mass) based on dynamics.