配電作業用電気油圧マニピュレータの高精度制御 : スライディングモード制御による6軸油圧マニピュレータの軌跡制御

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The uninterrupted supply of electric power requires that high-voltage power distribution maintenance work be done in a live-line state, and for this purpose a manipulator for power distribution line work has been developed that allows an operator to work by remote control. The manipulator must be light weight and have high output, because it is installed on the relatively unstable end of an insulated crane boom of a "cherry picker" truck and must handle heavy objects such as power distribution machinery and materials. Under such conditions, a hydraulic drive system has more advantages than an electrical drive system, but from the standpoint of control performance, a hydraulic manipulator has some characteristic problems not found in an electric manipulator. The stiffness is also low in the hydraulic driven manipulator because most of it is made of plastic in order to ensure electrical insulation performance. In this research we are studying the positional precision of the end of the arm in terms of robustness with respect to changes in the system parameters of a 6-link hydraulic manipulator that has such unstable characteristics. In particular, cooperation among the various axes becomes important for improving the positional precision, and a sliding control method is applied and evaluated by an independent servo-system for each joint. As a result, it was verified by experiment that robust, stable positional precision can be achieved although undesirable chattering occurs. Chattering is effectively eliminated by smoothing out the control discontinuity in a thin boundary layer neighboring the switching surface, however it involvesa trade off between tracking precision and robustness to unmodeled dynamics.
一般社団法人日本機械学会の論文
1996-02-25

配電作業用電気油圧マニピュレータの高精度制御 : スライディングモード制御による6軸油圧マニピュレータの軌跡制御

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