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Speed-Up of Robot-Manipulators Using Sliding Mode Control

Research Project

Project/Area Number 60550178
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionKyoto University

Principal Investigator

WATANABE Tohru  Kyoto University, Faculty of Engineering, Associate Professor, 工学部, 助手 (70026136)

Project Period (FY) 1985 – 1986
Project Status Completed (Fiscal Year 1986)
Budget Amount *help
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1986: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1985: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsRobotics / Manipulator / Sliding mode / Relay control / VSS / PWM / Multiprocessor / 制御
Research Abstract

In this research, a servo-system using sliding mode and its application to robot manipulators is investigated. Results are as follows:
(1) A method for generating the sliding mode by a relay with a small step is proposed in order to aboid the affection of chattering. The relay generates stepwise torque around the "equivalent control" to cover a wide range of output torques. The proposed method is used with the continuous control method of sliding mode in the boundary layer.
(2) An algorithm for motor control to determine the control mode and the duty rate of PWM by taking the effect of the voltage generated by motor rotation into consideration is proposed. The energy consumption of the motor is saved by the algorithm.
(3) A method to adjust the acceleration and the velocity of the desired hand position so as to keep the maximum duty rate within a range and to protect the sliding mode from its deviation.
(4) The proposed methods are applied to a manipulator with two joints and investigated by computer simulation. It is verified by this simulation that the path accuracy is significantly improved, the system is robust against the change of the mass of the hand, the acceleration and deceleration control work well and are effective for the improvement of the computing time.
(5) Methods to decrease the computing time for robot control using a multi-microprocessor are shown. The multiprocessor is applied to the inverse kinematics problem of a six-joint manipulator. The division of the inverse kinematics calculation into scalar level tasks and the re-combination of the tasks are discussed. It is verified by experiments that the computing time of the inverse kinematics of the elbow manipulator is decreased from 19.57 ms for one CPU to 3.07 ms with the proposed multi-microprocessor. The sliding mode control using the solution of the inverse kinematics is performed on the six-joint manipulator. It is shown that the sliding mode control is available for the six-joint manipulators.

Report

(1 results)
  • 1986 Final Research Report Summary
  • Research Products

    (11 results)

All Other

All Publications (11 results)

  • [Publications] 亀谷,渡部,河田,鉄屋: 日本ロボット学会誌. 3. 263-275 (1985)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T.Watanabe,K.Kawata,K.Tetsuya: Proc,of Japan-U.S.A.Symposium on Flexible Automation. 195-207 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T.Watanabe,K.Kawata,K.Tetsuya,K.Sano,K.Tanabe,K.Hayashi: Proc.of Japan-U.S.A.Symposium on Flexible Automation. 189-194 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T.Watanabe: Prepriuts of 3rd International Conference on System Research,Informatics and Cybernetics. 1-6 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T.Watanabe,M.Kametani,K.Kawata,K.Tetsuya: Trans,ASME Journal of DSMC. 108. 190-197 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T.Watanabe: Proc.of 1987 IEEE International Symp,on Intelligent Control. 1-6 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T. Watanabe, K. Kawata, K. Tetsuya: "A Sliding Mode Intelligent Servo System to Improve the Path Accuracy and Power Consumption of Robot Manipulators" Proc. of Japan-U.S.A. Symposium on Flexible Automation. 195-207 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T. Watanabe, K. Kawata, K. Tetsuya, K. Sano, K. Tanabe, K. Hayashi: "Robot Manipulator Control by Multi-Microprocessors" Proc. of Japan-U.S.A. Symposium on Flexible Automation. 189-194 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T. Watanabe: "Intelligent Manipulator Control Improving Hand Path Accuracy and Energy Consumption" Preprints of 3rd International Conference on System Research, Informatics and Cybernetics. 1-6 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T. Watanabe. M. Kametani, K. Kawata, K. Tetsuya: "Improving in the Computing Time of Robot Manipulators Using a Multi-Microprocessors" Trans. ASME, Journal of DSMC. 108. 190-197 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1986 Final Research Report Summary
  • [Publications] T. Watanabe: "Intelligent Control in the Hierarchy of Automatic Manufacturing Systems" Proc. of 1987 IEEE International Symposium on Intelligent Control. 1-6 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1986 Final Research Report Summary

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Published: 1987-03-31   Modified: 2016-04-21  

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