Sliding Mode Filtering Theory for Backdrivabilizing Control of Large-Force Transmission Mechanisms
| Project/Area Number |
15H03938
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Dynamics/Control
|
|---|
| Research Institution | Hiroshima University (2017)
Kyushu University (2015-2016) |
|---|
Principal Investigator |
Kikuuwe Ryo 広島大学, 工学研究科, 教授 (90362326)
|
|---|
| Project Period (FY) |
2015-04-01 – 2018-03-31
|
| Project Status |
Completed (Fiscal Year 2017)
|
| Budget Amount *help |
¥16,250,000 (Direct Cost: ¥12,500,000、Indirect Cost: ¥3,750,000)
Fiscal Year 2017: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2016: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2015: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
|
|---|
| Keywords | 微分包含式 / 摩擦 / 逆可動性 / スライディングモード / フィルタ |
|---|
| Outline of Final Research Achievements |
This research project was devoted to the technological development and theoretical studies for realizing "backdrivabilization" of high-ratio geared actuators and position and force control based on it. Main pieces of the obtained results are as follows: (1) a new friction compensation technique that realizes effective friction compensation even with elastic transmission mechanisms, (2) numerical analysis on the sliding-mode noise reduction filters that we proposed earlier and the clarification of their efficacy in their applications to position and force control, and (3) a new torque-bounded admittance controller with which the robot works safely even when the actuator torque is saturated due to external forces.
|
Report
(4 results)
Research Products
(19 results)
