ゲインスケジュールド切換超平面を有するスライディングモード制御器を用いた2リンクマニピュレータの力制御(機械力学,計測,自動制御)

概要

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This paper considers the problem to design force controller for a two-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 characteristic which is identified in real time as the spring element, and make the it scheduling variable. We propose a new type of sliding mode controller with gain-scheduled swiching hyperplane. By using this controller, hyperplane can be changed for various environments and adapted to nonlinearity of the environmental characteristic.
一般社団法人日本機械学会の論文
2003-08-25