Adaptive force control for unknown environment using sliding mode controller with variable hyperplane

被引：4
|
作者：
Iwasaki, M [1 ]
Tsujiuchi, N [1 ]
Koizumi, T [1 ]
机构：
[1] Doshisha Univ, Dept Engn Mech, Kyoto 6100321, Japan
来源：
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING | 2003年 / 46卷 / 03期
关键词：
adaptive control; manipulator; sliding mode control; force control; gain-scheduled variable hyperplane;
D O I：
10.1299/jsmec.46.967
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：967 / 972
页数：6
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