地雷処理支援用油圧駆動形マニピュレータの精密な状態空間モデルとロバスト制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
At present, the Sensing and Access Control R&D for Humanitarian Mine Action project has been carrying out by the Japan Science and Technology Agency (JST). our group joins to this project. Our group is taking charge of the development of the manipulator for mine clearance assistance. Now, with the system constructed, positioning and trajectory following performance of the hydraulic manipulator are extremely important areas of development. Existing research on the control of the hydraulic manipulators uses a combination of sliding mode control and disturbance observers for handling of peculiar nonlinearities in the hydraulic system. Based on the results of previous research, we propose a new model for our hydraulic manipulator that shows the characteristic of the hydraulic system based on previous model, and attempt to improve the control performance by applying a sliding mode control and a disturbance observer.
社団法人日本機械学会の論文
2006-07-25