Position-Commanding Sliding Mode Control Theory for Industrial Robotic Devices with Enhanced Affinity to Humans

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K04122
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Hiroshima University
• Principal Investigator: Kikuuwe Ryo 広島大学, 先進理工系科学研究科(工), 教授 (90362326)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 産業用ロボット / 協働ロボット / 微分包含式 / 力制御 / 位置制御

Outline of Final Research Achievements

This research project has established a mathematical foundation for stabilizing control loops by imposing constraints on physical quantities within the loop, building upon an extended concept of conventional sliding mode control. This approach has been applied to robot force control, enabling stable contact-force control with a commercial position/velocity-commanded robot that involves deadtime. In addition, the project has developed a control technique for stabilizing position-commanded overhead crane systems and developed a modeling scheme for frictional gear reducers, which are used for many position-commanded industrial robots.

Free Research Field

ロボット制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究課題では，制御ループ内で物理量に制限を設けて制御ループを安定化するための数学的な基盤が得られた．ここで得られた制御技術は，時間遅れのある位置指令型のロボティクス・メカトロニクス機器全般で安全な挙動や安全な接触力制御を実現するための基礎技術になると期待できる．特に，位置・速度・加速度・躍度に対して整合性を失わないように明示的に上限を設ける手法は，制御機器の安全性や安定性の向上に大きく寄与すると考えられる．