IWASAKI Makoto

写真a

Affiliation Department

Department of Electrical and Mechanical Engineering
Department of Electrical and Mechanical Engineering

Title

Professor

Homepage

http://mechatronics.web.nitech.ac.jp/iwasaki/

External Link

Degree

  • Master of Engineering ( Nagoya Institute of Technology )

  • Doctor of Engineering ( Nagoya Institute of Technology )

Research Areas

  • Informatics / Mechanics and mechatronics

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

From School

  • Nagoya Institute of Technology   Faculty of Engineering   Department of Electrical Engineering   Graduated

    - 1986.03

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    Country:Japan

From Graduate School

  • Nagoya Institute of Technology   Graduate School, Division of Engineering   Department of Electrical and Computer Engineering   Doctor's Course   Completed

    - 1991.03

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    Country:Japan

Professional Memberships

  • The Institute of Electrical and Electronics Engineers (Fellow)

    1992.12

  • The Institute of Electrical Engineering of Japan (Fellow)

    1985.08

  • Science Council of Japan (Member)

    2020.10 - 2026.09

  • 精密工学会

 

Research Career

  • Compensation for Nonlinear Friction in Table Drive System

    Cooperative Research  

    Project Year:

  • Autonomous Controller Design Using Genetic Algorithm

    Cooperative Research  

    Project Year:

  • Fast Response and High Precision Positioning Using Robust Control

    Cooperative Research  

    Project Year:

  • Command Shaping for Fast and Precise Positioning with Mechanical Vibration Suppression

    Cooperative Research  

    Project Year:

  • Modeling and Compensation for Harmonic Drive Gearings

    Cooperative Research  

    Project Year:

Papers

  • Motion Trajectory Tracking and Sway Reduction for Double-pendulum Overhead Cranes Using Improved Adaptive Control without Velocity Feedback Reviewed International coauthorship International journal

    Bingqing Zhao, Huimin Ouyang, Makoto Iwasaki

    IEEE/ASME Transactions on Mechatronics   27 ( 5 )   3648 - 3659   2022.10

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TMECH.2021.3126665

  • Contact Force Estimation and Sensorless Force Control in Piezoelectric Bending Actuators Reviewed

    Yuya Sakuragi, Kenta Seki, Makoto Iwasaki

    IEEJ Journal of Industry Applications   11 ( 4 )   555 - 561   2022.07

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Institute of Electrical Engineers of Japan  

    DOI: 10.1541/ieejjia.21006154

  • Efficient Autonomous Feedback Controller Parameter Design Considering Robust Stability for Galvanometer Scanner Reviewed

    Eitaro Kuroda, Yoshihiro Maeda, Makoto Iwasaki

    IEEJ Transactions on Industry Applications   142-D ( 4 )   290 - 298   2022.04

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Institute of Electrical Engineerings of Japan  

    DOI: 10.1541/ieejias.142.290

  • Evaluation of Temperature Dependency for Displacement Estimation in Piezoelectric Stack Actuators Reviewed International journal

    Chihiro Mikuriya, Kenta Seki, Makoto Iwasaki

    Proc. of International Workshop on Advanced Motion Control (AMC-2022)   112 - 117   2022.02

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/AMC51637.2022.9729297

  • Command filtered adaptive backstepping control for dual- motor servo systems with torque disturbance and uncertainties Reviewed International coauthorship International journal

    Baofang Wang, Makoto Iwasaki, Jinpeng Yu

    IEEE Transactions on Industrial Electronics   69 ( 2 )   1773 - 1781   2022.02

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TIE.2021.3059540

  • Observer-Based Adaptive Fuzzy Event-Triggered Control for Mechatronic Systems With Inaccurate Signal Transmission and Motion Constraints Reviewed International coauthorship International journal

    Tong Yang, Xinlin Zhang, Yongchun Fang, Ning Sun, Makoto Iwasaki

    IEEE/ASME Transactions on Mechatronics   xx ( yy )   xxx - xxx   2022

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE/ASME  

    DOI: 10.1109/TMECH.2022.3175969

  • Finite-time command filtered backstepping control for dual-motor servo systems with LuGre friction Reviewed International coauthorship International journal

    Baofang Wang, Makoto Iwasaki, Jinpeng Yu

    IEEE Transactions on Industrial Informatics   xx ( yy )   xxx - xxx   2022

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE  

    DOI: 10.1109/TII.2022.3182341

  • Empirical Transfer Function Estimation with Differential Filtering and Its Application to Fine Positioning Control of Galvano Scanner Reviewed International coauthorship International journal

    Yoshihiro Maeda, Makoto Iwasaki

    IEEE Transactions on Industrial Electronics   xx ( yy )   xxx - xxx   2022

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TIE.2022.3217616

  • Fast and Precise Positioning with Coupling Torque Compensation for a Flexible Lightweight Two-Link Manipulator with Elastic Joints Reviewed International coauthorship International journal

    Tran Vu Trung, Makoto Iwasaki

    xx ( yy )   xxx - xxx   2022

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TMECH.2022.3213538

  • Autonomous Parameter Design for Cascade Structure Feedback Controller Based on Time and Frequency Domain Optimization Reviewed International journal

    Eitaro Kuroda, Yoshihiro Maeda, and Makoto Iwasaki

    Proc. of the 47th Annual Conference of the IEEE Industrial Electronics Society (IECON-2020)   1 - 6   2021.10

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/IECON48115.2021.9589201

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Books and Other Publications

  • Mechatronics and Robotics -New Trends and Challenges

    Marina Indri, Roberto Oboe, Makoto Iwasaki, et al.( Role: Joint author ,  Chapter 2, ``Advanced Actuators for Mechatronics'')

    CRC Press  2020.11  ( ISBN:9780367366582

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    Total pages:286   Responsible for pages:18   Language:eng   Book type:Scholarly book

    The term “mechatronics” was coined in 1969, merging “mecha” from mechanism and “tronics” from electronics, to reflect the original idea at the basis of this discipline, i.e., the integration of electrical and mechanical systems into a single device. The spread of this term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering.

    Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is quite impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a “smart brain”, but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (e.g., for safety purposes).

    Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as “hot topics” in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available.

    The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans and ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, humanoids for human assistance, etc. The reader can find also new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms.

  • 精密サーボシステムを支える要素技術と制御応用

    精密サーボシステムの多様性探求調査専門委員会編( Role: Joint author ,  2.7「負荷軸フィードバック制御による高速・高精度位置決め」)

    電気学会技術報告書  2018.05 

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    Language:jpn   Book type:Report

  • 高機能化のためのモーションコントロールの最新技術

    モーションコントロールの高機能化に関する協同研究委員会編( Role: Joint author ,  2.2「波動歯車装置を内在する位置決め機構のフルクローズド制御」)

    電気学会技術報告書  2018.05 

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    Total pages:77   Responsible for pages:9-12   Language:jpn   Book type:Report

  • A Crash Course in Maple

    Makoto Iwasaki, Soichi Toyama, Akinobu Sato( Role: Supervisor (editorial))

    CORONA Publiwhing Co., LTD.  2016.11  ( ISBN:978-4-339-02864-5

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    Total pages:206   Language:jpn   Book type:Textbook, survey, introduction

  • Gest Editorial: "Modeling, Analysis, and Advanced Control in Motion Control Systems - Part I"

    Shihua Li, Lennart Harnefors, Makoto Iwasaki( Role: Joint author)

    IEEE Transactions on Industrial Electronics  2016.09 

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    Total pages:3   Responsible for pages:3   Language:eng   Book type:Scholarly book

  • 新産業基盤技術としてのモーションコントロール

    新産業基盤技術としてのモーションコントロールに関する協同研究委員会編( Role: Joint author ,  2.2「波動歯車装置を内在する位置決め機構のモデル化と制御」)

    電気学会技術報告書  2015.11 

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    Language:jpn   Book type:Report

  • 制御の事典

    野波健蔵,水野毅,他( Role: Joint author)

    朝倉書店  2015.07  ( ISBN:978-4-254-23141-0

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    Language:jpn   Book type:Dictionary, encyclopedia

  • ナノスケールサーボのための革新的な制御技術

    ナノスケールサーボのための制御応用技術協同研究委員会編( Role: Joint author ,  4.1「円条件に基づくプラント変動に対するロバストFB補償器設計」)

    電気学会技術報告書  2015.07 

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    Language:jpn   Book type:Report

  • Gest Editorial: "Introduction to the Special Section on New Emerging Technologies in Motion Control Systems -Part II"

    T. Tsuji, A. Sabanovic, K. Ohishi, M. Iwasaki( Role: Joint author)

    IEEE  2014.07 

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    Language:eng   Book type:Scholarly book

  • Gest Editorial: "Introduction to the Special Section on New Emerging Technologies in Motion Control Systems -Part I"

    T. Tsuji, A. Sabanovic, K. Ohishi, M. Iwasaki( Role: Joint author)

    IEEE  2014.02 

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    Language:eng   Book type:Scholarly book

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Misc

  • The Energy, Information, Robotics, and Industrial Revolution Invited Reviewed International journal

    Makoto Iwasaki, Morgan Kiani, Lucia Lo Bello, Marek Jasinski

    2022

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    Authorship:Lead author   Language:English   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:IEEE  

  • Research and Development of Fast and Precision Controller Design for Positioning Devices with Strain Wave Gearing Invited

    Makoto Iwasaki, Masafumi Yamamoto, Yoshifumi Okitsu

    Journa of the Japan Society for Precision Engineering   85 ( 2 )   128 - 132   2019.02

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:The Japan Society for Precision Engineering  

    DOI: 10.2493/jjspe.85.128

  • 「波動歯車装置を内在する位置決め機構に対する高速高精度制御系設計の研究と製品開発」にまつわる話 Invited

    岩崎誠,山元純文,沖津良史

    85 ( 2 )   141 - 142   2019.02

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:精密工学会  

    DOI: 10.2493/jjspe.85.141

  • 共振周波数変動と制御入力振幅の制約を考慮した適応型有限ステップ整定フィードフォワード補償

    岩崎誠

    7 - 7   2015.02

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:電気学会  

  • Editorial: Special Issue - Selected papers from AMC2012 Conference

    A. Sabanovic, T. Tsuji, K. Ohishi, M. Iwasaki

    54 ( 1 )   5 - 8   2013.04

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    Authorship:Lead author   Language:English   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:Automatika  

  • 特集「路面負荷に基づく新たな電動パワーステアリング制御」

    渡部大治,片岡資章,藤井丈仁,岩崎誠

    15   69 - 71   2010.12

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)   Publisher:株式会社デンソー  

Presentations

  • GA-Based Optimization in Mechatronic Systems: System Identification and Controller Design Invited International conference

    Makoto Iwasaki

    The 8th International Conference on Mechanical Engineering and Automation Science  2022.10  Conference organization of ICMEAS

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    Event date: 2022.10

    Language:English   Presentation type:Oral presentation (keynote)  

    Venue:Wuhan-online, China  

  • 機構解析を用いた機台振動のモデリングと評価

    渡邊湧也,関健太,岩崎誠

    電気学会 メカトロニクス制御研究会  2022.09  電気学会

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    Event date: 2022.09

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京  

  • フィードバック制御パラメータの高性能自動調整のためのベイズ最適化に基づく探索空間推定法

    塩原 卓矢,前田 佳弘,岩崎 誠

    電気学会 メカトロニクス制御研究会  2022.09  電気学会

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    Event date: 2022.09

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京  

  • 位置決め動作信号を用いた周波数応答関数推定問題に対する局所周波数モデリング法の適用評価

    佐藤慎平,小楠飛鳥,前田佳弘,岩崎誠

    電気学会 メカトロニクス制御研究会  2022.09  電気学会

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    Event date: 2022.09

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京  

  • GA-Based Practical System Identification and Auto-Tuning for Multi-Axis Industrial Robots Invited International conference

    Makoto Iwasaki

    The 1st International Electronic Conference on Machines and Applications  2022.09  Conference organization of IECMA

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    Event date: 2022.09

    Language:English   Presentation type:Oral presentation (keynote)  

    Venue:Basel-online, Switzerland  

  • 波動歯車装置を内在する位置決め機構の精密プラントモデリング

    三輪周平,岩崎誠,山元純文,沖津良史

    2022年度精密工学会秋季大会  精密工学会

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    Event date: 2022.09

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

  • 遺伝的アルゴリズムに基づく制御安定性を考慮したフィードバック制御器パラメータの高効率自動調整

    黒田英太郎,塩原卓矢,前田佳弘,岩崎誠

    2022年度電気学会電子・情報・システム部門大会  電気学会

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    Event date: 2022.08 - 2022.09

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島  

  • GA-Based Optimization in Mechatronic Systems: System Identification and Controller Design Invited International conference

    Makoto Iwasaki

    The 5th International Conference on Control and Computer Vision  2022.08  Conference organization of ICCCV

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    Event date: 2022.08

    Language:English   Presentation type:Oral presentation (keynote)  

    Venue:Xiamen, China  

  • Motion Control for Industrial Positioning Devices with Strain Wave Gearing: Basics, Applications, and Beyond Invited International conference

    Makoto Iwasaki

    The 34th Chinese Control and Decision Conference  2022.08  Chinese Association of Automation

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    Event date: 2022.08

    Language:English   Presentation type:Oral presentation (keynote)  

    Venue:Hefei, China  

  • High Trajectory Tracking Performance of Industrial Robots by Iterative Learning Control Invited International conference

    Makoto Iwasaki

    The 7th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2022)   2022.07  Conference committee of ACIRS

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    Event date: 2022.07

    Language:English   Presentation type:Oral presentation (keynote)  

    Venue:Tianjin-online  

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Industrial Property Rights

  • H∞制御による波動歯車装置を備えたアクチュエータの位置決め制御装置

    山元純史,沖津良史,岩崎誠

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    Application no:10-2017-7024266  Date applied:2017.08

    Publication no:2018/061096  Date published:2018.04

    Patent/Registration no:第10-2228592号  Date registered:2021.03  Date issued:2021.03

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • 状態オブザーバ併用型フルクローズド制御による波動歯車装置を備えたアクチュエータの位置決め制御装置

    山元純史,沖津良史,岩崎誠

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    Application no:10-2017-7024263  Date applied:2017.08

    Publication no:201814181  Date published:2018.04

    Patent/Registration no:第10-2198760号  Date registered:2020.12  Date issued:2020.12

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • 状態観測器兼用型全閉合控制的階波歯輪装置之到動器的定位控制装置

    山元純文,沖津良史,岩崎誠

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    Application no:106106190  Date applied:2017.02

    Publication no:201815035  Date published:2018.04

    Patent/Registration no:I710199  Date registered:2020.11  Date issued:2020.11

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • 具備H∞控制的階波歯輪装置的到動器之定位控制装置

    山元純文,沖津良史,岩崎誠

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    Application no:106106188  Date applied:2017.02

    Publication no:201814181  Date published:2018.04

    Patent/Registration no:I711775  Date registered:2020.12  Date issued:2020.12

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • H∞制御による波動歯車装置を備えたアクチュエータの位置決め制御装置

    山元純史,沖津良史,岩崎誠

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    Application no:PCT/JP2016-078511  Date applied:2016.09

    Patent/Registration no:特許第6466588号  Date registered:2019.01  Date issued:2019.01

    Country of applicant:Domestic   Country of acquisition:Domestic

  • Positioning Control Device for Actuator Provided with Strain Wave Gearing Using Full-Closed Control with State Observer

    Masafumi Yamamoto, Yoshifumi Okitsu, Makoto Iwasaki

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    Application no:15/553,835  Date applied:2016.09

    Publication no:US2018/0246489 A1  Date published:2018.08

    Patent/Registration no:US 10,254,740 B2  Date registered:2019.04  Date issued:2019.04

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • Positioning Control Device of Actuator Provided with Strain Wave Gearing Using H_infty Control

    Masafumi Yamamoto, Yoshifumi Okitsu, Makoto Iwasaki

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    Application no:15/553,759  Date applied:2016.09

    Publication no:US2018/0239327 A1  Date published:2019.08

    Patent/Registration no:US 10,365,628 B2  Date registered:2019.07  Date issued:2019.07

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • 状態オブザーバ併用型フルクローズド制御による波動歯車装置を備えたアクチュエータの位置決め制御装置

    山元純史,沖津良史,岩崎誠

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    Application no:PCT/JP2016-078512  Date applied:2016.09

    Patent/Registration no:特許第6371010号  Date registered:2018.07  Date issued:2018.07

    Country of applicant:Domestic   Country of acquisition:Domestic

  • Vehicle Steering Control System

    Yasuhiko Mukai, Yoshifumi Morita, Hiroyuki Ukai, Makoto Iwasaki, Takeshi Wada

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    Application no:14/837,000  Date applied:2015.08

    Publication no:US2015/0367883 A1  Date published:2015.12

    Patent/Registration no:US 9,783,229 B2  Date registered:2017.10  Date issued:2017.10

    Country of applicant:Foreign country   Country of acquisition:Foreign country

  • 伝達関数推定装置、伝達関数推定方法、および、伝達関数推定プログラム

    向井靖彦,森田良文,鵜飼裕之,岩崎誠,大竹弘泰,加納遼

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    Application no:201310292716.9  Date applied:2013.07

    Patent/Registration no:ZL201310292716.9  Date registered:2016.08  Date issued:2016.08

    Country of applicant:Foreign country   Country of acquisition:Foreign country

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Awards

  • 2022 Best paper award of IEEE Japan Journal of Industry Applications

    2022.08   The Institute of Electrical Engineers of Japan   Autonomous Parameter Design for Cascade-Structure Feedback Controller Based on Cooperative Optimization Method

    Eitaro Kuroda, Yoshihiro Maeda, Makoto Iwasaki

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    Award type:Honored in official journal of a scientific society, scientific journal  Country:Japan

  • AAIA Fellow

    2022.07   Asia-Pacific Artificial Intelligence Association   Fellow of Asia-Pacific Artificial Intelligence Association

    Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Hong Kong

  • 2022 IEEE/IES Senior AdCom Member Honor

    2022.06   Institute of Electrical and Electronics Engineers, Industrial Electronics Society   2022 IEEE/IES Senior AdCom Member Honor

    Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Japan

  • IEE Japan, Fellow

    2021.03   The Institute of Electrical Engineers of Japan   Research and Development of Motion Control Techniques

    Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Japan

  • Science Council of Japan (SCJ), Member

    2020.10   Science Council of Japan (SCJ)  

    Makoto Iwasaki

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    Country:Japan

  • 2019 The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology, Prizes for Science and Technology, Development Category

    2019.04   The Minister of Education, Culture, Sports, Science and Technology   Developments of Fast and Precision Control Techniques for Positioning Devices in Industrial Machines

    Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Japan

  • Best Student Paper Award, International Conference on Mechatronics 2019

    2019.03   IEEE, Industrial Electronics Society   Comparisons of Frequency Response Function Identification Methods using Single Motion Data: Time- and Frequency-domain Approaches

    Hiroki Tachibana, Naoki Tanaka, Yoshihiro Maeda, Makoto Iwasaki

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    Award type:Award from international society, conference, symposium, etc.  Country:Germany

  • The 38th JSPE Technology Award

    2018.09   The Japan Society for Precision Engineering   Research and Development of Fast and Precision Controller Design for Positioning Devices with Strain Wave Gearing

    Makoto Iwasaki, Masafumi Yamamoto, Yoshifumi Okitsu

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  • The 50th Ichimura Prize in Industry for Excellent Achievement

    2018.04   Ichimura Foundation for New Technology   Development of Compact Modular-Type Mounting Electronic Assembly Machines by Precision Servo Techniques

    Masatoshi Fujita, Ryo Nagata, Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Japan

  • The 3rd Nagamori Awards

    2017.09   Nagamori Foundation   Research and Development on Fast and Precision Positioning Techniques for Advanced Mechatronic Systems

    Makoto Iwasaki

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    Award type:International academic award (Japan or overseas)  Country:Japan

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Scientific Research Funds Acquisition Results

  • 人と協働する産業用ロボットの安全と高速高精度を両立する位置決め制御系の開発

    2019.04 - 2023.03

    科学研究費補助金  基盤研究(B)

    岩崎誠、前田佳弘

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    本研究は,申請者らの科研費補助金および産学連携共同研究による,様々なメカトロニクス機器の位置決め制御に対する実践的な技術課題設定と一連の研究成果をベースに,「人と協働する産業用ロボットに特化した高速高精度位置決め制御系設計」に関する以下の項目を,負荷状態量のセンシングによるフルクローズド2自由度制御系を前提に,「安全と高性能」を両立する制御系の方法論・設計論を,産業界と連携しながら学理に即して開発・実証する。

    1)従来実用化が困難であったロボットアクチュエータ減速機の出力(負荷)側に状態量センサを設置する機構設計を具現化し,フルクローズド2自由度制御系の方法論を確立する
    2)所望の安全性と高性能制御性の指針・仕様を満足する設計論を実験検証しながら展開し,実機試作も併せて人との協働に資するロボットの更なる性能向上を実証する

    これらは,人との協働・共生を目指した従来のソフトロボット等には無いアプローチであり,産業用ロボット制御設計技術を格段に発展させ,学術的かつ実践的な研究を拓くものである。

  • 減速機を内在する位置決め機構に対する負荷状態量フィードバックによる高速高精度化

    2016.04 - 2019.03

    科学研究費補助金  基盤研究(C)

    岩崎誠

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    本研究は,申請者らの科学研究費補助金(H16~17年度基盤研究A,H23~25年度基盤研究C),さらに産学連携共同研究による一連の研究成果と実践的な技術課題をベースに,様々なメカトロニクス機器の中でも,特に減速機を内在する位置決め機構に対する高速・高精度位置決め制御系設計に関する以下の項目を,負荷状態量(速度・位置・加速度)センサによるフルクローズド2自由度制御構築を前提に,位置決め精度や振動抑制に関する所望の制御仕様を満足する負荷状態量フィードバック制御系の方法論・設計論を,産業界と連携しながら学理に即して展開する。

    1)従来実用化が困難であった減速機の出力(負荷)側に状態量センサを設置する機構設計を具現化し,併せてセンサの高分解能信号処理法を提示する
    2)フルクローズド2自由度制御系の設計論を実機検証しながら展開し,さらにフィードフォワードとフィードバック補償器の連成設計への応用を拓く

    これらは,従来の2自由度制御系の設計法を格段に発展させ,学術的かつ実践的な研究を拓くものであり,新たな学問的知見として幅広いメカトロニクス分野に応用展開可能と期待される。

  • 線形行列不等式応用が拓く高精度2自由度位置決め制御系設計の実用化展開

    2011.04 - 2014.03

    科学研究費補助金  基盤研究(C)

    岩崎誠

  • 情報記憶装置位置決め機構のナノメータ領域のモデル化及び制御技術に関する研究

    2004.04 - 2006.03

    科学研究費補助金  基盤研究(A)

    平井洋武、神藤久,岩崎誠,不破勝彦,川福基裕

  • 磁気ディスク装置位置決め系の振動外乱の影響の抑制制御技術

    2002.04 - 2004.03

    科学研究費補助金  萌芽研究

    平井洋武、岩崎誠,川福基裕

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Committee Memberships

  • The Institute of Electrical and Electronics Engineers (Fellow)   IES Senior AdCom Member Honor  

    2022.06   

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    Committee type:Academic society

  • The Institute of Electrical and Electronics Engineers (Fellow)   IES Fellow Evaluation Committee, Chair  

    2022.01   

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    Committee type:Academic society

  • The Institute of Electrical and Electronics Engineers (Fellow)   IES AdCom Members-at-Large (by appointment)  

    2022.01 - 2024.12   

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    Committee type:Academic society

  • The Institute of Electrical and Electronics Engineers (Fellow)   IES Awards and Honors Committee  

    2021.01 - 2022.12   

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    Committee type:Academic society

  • 日本学術会議(連携会員)   第25-26期 日本学術会議 連携会員  

    2020.10 - 2026.09   

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    Committee type:Other

  • 電気学会(フェロー)   電気学会 代議員  

    2020.03 - 2022.03   

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    Committee type:Academic society

  • 精密工学会   精密工学会東海支部 幹事  

    2020.01   

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    Committee type:Academic society

  • The Institute of Electrical and Electronics Engineers (Fellow)   IES Fellow Nomination Advisory Committee  

    2020.01 - 2021.12   

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    Committee type:Academic society

  • 電気学会(フェロー)   電気学会 東海支部 代議員  

    2019.04 - 2020.03   

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    Committee type:Academic society

  • The Institute of Electrical and Electronics Engineers (Fellow)   Medal Committee Member for IEEE Medal in Power Engineering  

    2018.10 - 2020.09   

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    Committee type:Academic society

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