Title:
COMPLIANCE CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH0475114
Kind Code:
A
Abstract:
PURPOSE:To obtain a robust system by which compliance can be kept at a preset value even when inertia, etc., is fluctuated by performing compliance control to which sliding mode control is applied on a controlled system with high inertia fluctuation. CONSTITUTION:A force sensor 27 is provided at the tip of the arm 26 of a robot, and amount of displacement on rectangular coordinate by a virtual spring equivalent to difference between command torque and feedback torque from the force sensor 27 is found, and a targeted position is transformed to the indirect coordinate of each axis setting a position in which the amount of displacement is added on a position command as the targeted position. The sliding mode control is applied to the servo control system of each axis, and the switching phase of the sliding mode control is switched by deviation among a position, speed, and a force, and a servo control system settable at arbitrary compliance can be formed. Thereby, it is possible to realize the compliance control by the sliding mode control resistant for parameter fluctuation and disturbance, etc.
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Inventors:
TORII NOBUTOSHI
NIHEI AKIRA
KATO TETSURO
NIHEI AKIRA
KATO TETSURO
Application Number:
JP19012990A
Publication Date:
March 10, 1992
Filing Date:
July 18, 1990
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J17/02; B25J9/16; G05B19/18; G05B19/404; G05D3/12; (IPC1-7): B25J17/02; G05B19/18; G05D3/12
Attorney, Agent or Firm:
Hattori Takeshi
Next Patent: JPH0475115