フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2026/07
形態種別	国際会議論文
査読	査読あり
標題	Evaluation of Motion Characteristics Using a Dynamic Drivability Ellipsoid in a Serial Link Mechanism
執筆形態	共著
掲載誌名	2026 11th International Conference on Control and Robotics Engineering (ICCRE 2026)
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.60-64
総ページ数	5
国際共著	国際共著
著者・共著者	D. Arai, I. d. S. Yassuda, A. Sekiguchi and E. F. Fukushima
概要	Flying objects such as UAVs are increasingly used in various fields, while their development and training involve risks such as collisions. Constrained experimental systems using link mechanisms can improve safety, but they introduce dynamic effects different from free-flight conditions, which are difficult to evaluate quantitatively. This study proposes the Dynamic Drivability Ellipsoid (DDE) as a method for visually evaluating the acceleration characteristics of a passive link mechanism’s end- effector under external forces. The DDE represents the relationship between external force and resulting acceleration as an ellipsoid, whose shape and offset reflect inertia and nonlinear dynamic effects. The method is applied to two types of two-degree- of-freedom link mechanisms, demonstrating that the DDE can visualize position-dependent drivability and differences in directional acceleration characteristics. These results suggest that the DDE is useful for evaluating and designing constrained systems for flying objects.
外部リンクURL	https://doi.org/10.1109/ICCRE69951.2026.11593546