Adaptive sliding mode control for robot manipulators ロボットマニピュレータの適応スライディングモード制御
この論文にアクセスする
この論文をさがす
著者
書誌事項
- タイトル
-
Adaptive sliding mode control for robot manipulators
- タイトル別名
-
ロボットマニピュレータの適応スライディングモード制御
- 著者名
-
Parra Vega, Vicente
- 著者別名
-
パーラ ヴェガ, ヴィセンテ
- 学位授与大学
-
東京大学
- 取得学位
-
博士 (工学)
- 学位授与番号
-
甲第11158号
- 学位授与年月日
-
1995-03-29
注記・抄録
博士論文
目次
- Abstract / p4 (0006.jp2)
- Contents / p1 (0010.jp2)
- 1 Introduction / p3 (0012.jp2)
- 1.1 Brief Historical Perspective / p3 (0012.jp2)
- 1.2 Motivation and Problem Statement / p6 (0015.jp2)
- 1.3 Review of the Bibliography / p7 (0016.jp2)
- 1.4 Contribution and Organization of this Thesis / p11 (0020.jp2)
- 2 A Sliding Mode Error Coordinate System / p13 (0022.jp2)
- 2.1 Introduction / p14 (0023.jp2)
- 2.2 Variable Structure Systems and Sliding Mode Control / p14 (0023.jp2)
- 2.3 Model-Based Adaptive Control / p20 (0029.jp2)
- 2.4 Adaptive Sliding Mode Control / p22 (0031.jp2)
- 2.5 Conclusions / p23 (0032.jp2)
- 3 Adaptive Sliding Mode Control:Free Motion Case / p25 (0034.jp2)
- 3.1 Introduction / p25 (0034.jp2)
- 3.2 A Sliding Mode Error Coordinate System for Robot Arms / p26 (0035.jp2)
- 3.3 A Global Exponentially Convergent Adaptive Sliding Mode Control / p27 (0036.jp2)
- 3.4 Adaptive Sliding Mode Control with VSS Estimator / p31 (0040.jp2)
- 3.5 Simulation Study / p33 (0042.jp2)
- 3.6 Experiments / p35 (0044.jp2)
- 3.7 Discussion / p38 (0047.jp2)
- 3.8 Conclusions / p39 (0048.jp2)
- 4 Adaptive Sliding Mode Control:Constrained Motion Case / p65 (0075.jp2)
- 4.1 Introduction / p65 (0075.jp2)
- 4.2 Robot Dynamics under Holonomic Constraint / p66 (0076.jp2)
- 4.3 A Sliding Mode Error Coordinate System for Constrained Motion / p69 (0079.jp2)
- 4.4 Passivity-Based Adaptive Sliding-Mode Control for Constrained Motion / p70 (0080.jp2)
- 4.5 Robustness Against Bounded Unmodelled Dynamics-Robust Estimation / p74 (0084.jp2)
- 4.6 Remarks on the controller / p76 (0086.jp2)
- 4.7 Simulation Study / p78 (0088.jp2)
- 4.8 Experiments / p78 (0088.jp2)
- 4.9 Byproducts of the Orthogonalization Principle / p81 (0091.jp2)
- 4.10 Conclusions / p90 (0100.jp2)
- 5 Control of Robots Executing Transition Tasks / p112 (0122.jp2)
- 5.1 Introduction / p112 (0122.jp2)
- 5.2 Preliminaries / p113 (0123.jp2)
- 5.3 A Stable Adaptive Control under Transition Tasks / p115 (0125.jp2)
- 5.4 Simulation and Preliminary Experimental Data / p118 (0128.jp2)
- 5.5 Conclusions / p122 (0132.jp2)
- 6 Conclusions / p125 (0135.jp2)
- 6.1 A Sliding Mode Error Coordinate System for Robot Arms / p125 (0135.jp2)
- 6.2 Free Motion / p126 (0136.jp2)
- 6.3 Constrained Motion / p127 (0137.jp2)
- 6.4 Transition Tasks / p129 (0139.jp2)
- A Properties of Robot Dynamics / p131 (0141.jp2)
- A.1 Free Motion Dynamics / p131 (0141.jp2)
- A.2 Robot Dynamics under Holonomic Constraints / p133 (0143.jp2)
- B Existence and uniqueness of a class of non-analytical ODE / p137 (0147.jp2)
