ADAPTIVE FORCE CONTROL FOR UNKNOWN ENVIRONMENT USING SLIDING MODE CONTROLLER WITH VARIABLE HYPERPLANE
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概要
- 論文の詳細を見る
In this paper a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller the hyper plane in sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied to force control using a one-degree-of-freedom manipulator system. and the performance of this controller is verified on both simulation and experiments.
- 一般社団法人日本機械学会の論文
著者
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IWASAKI Masahiro
Department of Quantum Engineering, Nagoya University
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Tsujiuchi Nobutaka
Department Of Mechanical Engineering Doshisha University
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Koizumi Takayuki
Department Of Mechanical Engineering Doshisha University
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Iwasaki Masahiro
Department Of Mechanical Engineering Doshisha University
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Koizumi Takayuki
Department of Mechanical Engineering, Doshisha University
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Iwasaki Masahiro
Department of Electrical Engineering and Computer Science, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
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