20921 スライディングモード制御を用いた先端が柔軟な2リンクアームの位置と力のハイブリッド制御(ロボットの計測と制御)

概要

論文の詳細を見る
When the contact force at the tip of a flexible arm of 1 link is controlled, the position in the direction of the force is possible to control, but, the position in the direction of the arm is impossible. In this study, 1st link set in the side supporting an arm is a rigid body, and 2nd link set in the tip side is a flexible arm. The flexible arm of the 2nd link is assumed to be the rigid body arm which consists of 2 links using a virtual joint, and the control object is modeled with the rigid body arm of 3 links. Moreover, the contact force at the tip is modeled with a spring and a damper. The Hybrid Control system of the position control and the force control is designed to this model. The force control system is designed by the Sliding Mode Control system, and the validity of the proposed control method is examined by simulations.
社団法人日本機械学会の論文
2006-03-09