Sliding Mode Filtering Theory for Backdrivabilizing Control of Large-Force Transmission Mechanisms

2017 Fiscal Year Final Research Report

• 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
• 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.

Free Research Field

機械力学・制御