SMC framework in motion control systems

Abstract

SUMMARYDesign of a motion control system should take into account both the unconstrained motion performed without interaction with environment or other system, and the constrained motion where system is in contact with environment or has certain functional interaction with another system. In this paper control systems design approach, based on siding mode methods, that allows selection of control for generic tasks as trajectory and/or force tracking as well as for systems that require maintain some functional relation -like bilateral or multilateral systems, establisment of virtual relation among mobile robots or control of haptic systems is presented. It is shown that all basic motion control problems -trajectory tracking, force control, hybrid position/force control scheme and the impedance control -can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks and bilateral control systems are presented.

Positive feedback of reaction force for environmental embedded haptic system

“…6. By using this block diagram, the transfer function of the position response from the added force is derived as (7). In …”

Haptic motion control for physical human support

“…Then, they should transmit the environmental information to the individual in harmony with the human sensation. Basically, intelligent robots of the future should work as a bridge between the human and the real world [1,2].…”

“…On the other hand, the goal of position for tracking is represented as (2) x m − x s = 0 ( 2 ) However, force control and position control cannot be realized at the same time in one real axis, since they have the opposite control stiffness [17,18]. Then, (1) and (2) are transformed into the common dimension of acceleration as (3) and (4) x f m +ẍ f s =ẍ f,res…”

Reproduction of human motion using motion-copying system based on coordinate modification

“…One of the major aims of the bilateral control is achieving transparency which is defined as a match between impedance perceived by the operator and the environment impedance [5]. In order to achieve it, many methods have been proposed [6]- [8]. In particular, the bilateral control based on acceleration control [9] by disturbance observer (DOB) [10] [11] and reaction force observer (RFOB) [12] enables the teleoperation system with high transparency between the master and slave systems.…”