計算トルク法に基づく2自由度柔軟リンクロボットアームの位置制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/06/01

タイトル(英語): A Position Control of 2 DOF Flexible Link Robot Arms Based on Computed Torque Method

著者名: 澤田　雅栄（防衛大学校理工学研究科後期課程　装備・基盤工学系専攻装備システム工学），板宮　敬悦（防衛大学校電気情報学群電気電子工学科）

著者名(英語): Masataka Sawada (Doctor's course of Equipment and Structural Engineering, Graduate School of Science and Engineering, National Defense Academy), Keietsu Itamiya (Department of Electrical and Electronic Engineering, National Defense Academy)

キーワード: 柔軟リンクロボットアーム，位置制御，計算トルク法，適応同定，滑らかな射影アルゴリズム　　flexible link robot arm，position control，computed torque method，adaptive identification，smooth projection algorithm

要約(英語): Our group has already studied a position control system for flexible link robot arms. The control law of this method is natural extension from the computed torque method for a rigid link robot arm. It is not limited within operating range which can be regarded as a linear system. In addition, it does not require a switching like an input used in a sliding mode control. However, we need to consider the modeling error because this method uses the model based control. In this paper, we propose a new position control of 2DOF flexible link robot arms based on computed torque method. In addition, we theoretically investigate the stability of the proposed method. Moreover, we propose a simple adaptive identification method in order to decrease the modeling error. The validity of the proposed scheme is illustrated by the theoretical analysis and experimental results.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.6 （2013） 特集：非線形システムのモデル化・制御理論・応用の最前線

本誌掲載ページ: 1129-1138 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/6/133_1129/_article/-char/ja/