ゲインスケジューリングに基づくマスタアームの可変インピーダンス制御

概要

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The technical application of a master slave system is a very attractive for micromanipulation and a power amplifier. In the master-slave system, the human being must instruct the slave by operating the master, in order to execute the tasks. In this paper, variable impedance control of the master arm is discussed on the basis of H_∞ control theory. Impedance control is useful for adjusting the dynamic characteristics of the master arm, such as the apparent decrease of inertia. However, it is difficult to determine the impedance parameters uniquely, since the desired impedance varies according to the operating conditions. Therefore, in view of maneuverability and stability, the damping factor of the reference impedance is varied according to information on acceleration and velocity. The aim of this study is to design a time varying controller dependent on the damping factor, based on gain scheduling. The gain scheduled problem can be solved via elementary manipulations on linear matrix inequalities (LMI). The validity of variable impedance control, in which an operation force is actively utilized, is confirmed in control experiments using a direct-drive master system.
一般社団法人日本機械学会の論文
1997-05-25