129 ゲインスケジューリング型スライディングモード制御器を用いたマニピュレータの力制御

• 岩崎 正裕

  同志社大院

• 小泉 孝之

  同志社大

• 辻内 伸好

  同志社大

• 竹下 光夫

  岡山大

書誌事項

タイトル別名

• Contact tasks using Sliding Mode Servo Controller with Gain-scheduling Variable Hyperplane

抄録

This paper considers the problem to design force control of a one-link robot manipulator with contact motion to environments. Generally, the environmental characteristics that the manipulator is in contact with are not often known, and some of them have nonlinearity. Therefore we assume the environmental characteristics which are identified in real time as the spring element, and make them scheduling variables. We propose a new type of sliding mode controller with gain-scheduling type variable hyperplane. By using this controller, hyperplane can be changed for various environments and adapted to nonlinearity of the environmental characteristic.

収録刊行物

• Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D

  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2000 (0), 29-, 2000-09-01

  一般社団法人日本機械学会

キーワード

• Sliding Mode Controller
• Force Control
• Gain_scheduling
• Variable Hyperplane

詳細情報

• CRID: 1571135652168263168
• NII論文ID: 110002482394
• NII書誌ID: AA11901770
• ISSN: 13480235
• 本文言語コード: ja
• データソース種別:
  • CiNii Articles