Adaptive Force Control for Unknown Environment Using Sliding Mode Controller with Variable Hyperplane(<Special Issue>Advances in Motion and Vibration Control Technology)
スポンサーリンク
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 the sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied for force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified for both simulation and experiments.
- 一般社団法人日本機械学会の論文
- 2003-09-15
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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- Adaptive Force Control for Unknown Environment Using Sliding Mode Controller with Variable Hyperplane(Advances in Motion and Vibration Control Technology)
- ADAPTIVE FORCE CONTROL FOR UNKNOWN ENVIRONMENT USING SLIDING MODE CONTROLLER WITH VARIABLE HYPERPLANE
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