2A2-H02 地雷探知ロボット搭載用油圧マニピュレータのマスタ・スレーブ制御(極限作業ロボット)

概要

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In master-slave systems with hydraulic manipulators, trajectory tracking performance is extremely important. In the trajectory tracking control of hydraulic manipulators, it is difficult to obtain desired performance due to its some kinds of nonlinearity, disturbance and sympathetic vibrations between links. Therefore, robust control system is desired. Sliding mode control has strong robustness to parameter change and disturbance, and the model following control adapts the dynamic characteristics of plant to a reference model, which has ideal characteristics. Moreover sliding mode control with frequency shaping suppresses spillover of coupled response for between links. Therefore, we design a discrete-time reference model following frequency-shaped sliding mode controller with pre-filter, which combines the advantages of these control theories. In this paper, it is shown that our control method can improve trajectory tracking performance and robustness of the master-slave system in experiments.
一般社団法人日本機械学会の論文
2007-05-11