パラメータ適応同定に基づく不確かなロボットアームのセンサレススライディングモード位置決め制御

抄録

In this study, we propose two methods for the sensorless positioning control of a robot arm. First, we propose using adaptive observer directly in order to estimate the state of the system. Adaptive observer is a state estimator which contains the parameter identification in addition to the state estimation. This method is applicable to the robot arm with direct drive system. In the actual system, the nonlinear characteristics often exists at the drive system because of the speed reducer. However it is very difficult to design adaptive observer in consideration of the nonlinear characteristics. Then, secondly, we propose identifying the parameter using adaptive identifier and estimating the state of the system using sliding mode observer. This method is useful for the robot arm which contains the nonlinear characteristics at the drive system. In two methods mentioned above, sliding mode controller is used, Moreover, concerning the second method, we proved the usefulness by experiments.