ARTICULATED POLISHING ROBOT USING SLIDING MODE NON-INTERACTIVE CONTROL

摘要

PROBLEM TO BE SOLVED: To provide an articulated polishing robot using a sliding mode non- interactive control which can carry out a high accuracy of polishing of a complexed bending surface by allowing to apply a sliding mode non-interactive control to the articulated polishing robot, and can reduce the generation of a chattering. ;SOLUTION: At a sliding mode non-interactive control part 21, an object value p₁ of the tangent position, and an object value F_r of the friction force are input. And those object values are compared with the detected tangent direction position P and the friction force F, and the errors of them are found. And an operation depending on the sliding mode non-interactive control is carried out, and a control input signal μ is output. To the control input signal μ, the reverse dynamics of a nonlinear force h_xo is added. This adding signal is converted into a joint torque by a Jacobian determinant, and input to a vertical two-joint manipulator 7.;COPYRIGHT: (C)1999,JPO