論文

The model reference adaptive control system is an adaptive controller that maintains the control performance even when the uncertainty of the controlled system’s parameters is high, and its design methodology is well established. In particular, the direct MRACS excels in responsiveness; however, it suffers from the problem that its adjustable parameters do not converge to their true values. To converge the adjustable parameters to their true values, a conventional method involves injecting a probing signal to satisfy the PE property; however, this compromises the control performance. Thus, a control error-based probing signal auto-elimination scheme is proposed in this study, which adaptively regulates the probing signal based solely on the control error without predefined elimination timing. This enables the identification of adjustable parameters during transient phases, while automatically suppressing the probing signal once sufficient tracking performance is achieved. Furthermore, unlike existing probing-based methods, the proposed scheme allows re-injection of the probing signal when performance degradation is detected, thereby achieving a compatible realisation of identification and control within a single framework. Therefore, the proposed scheme simultaneously contributes to the identification and control, significantly reducing the tracking error. The validity of the proposed structure was confirmed by simulations under plant variation conditions.

© 1996-2012 IEEE. This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of a DOb, then the position error asymptotically goes to zero in regulation control and is uniformly ultimately bounded in trajectory-tracking control. As the bandwidth of a DOb and the nominal inertia matrix are increased, the bound of error shrinks, i.e., the robust stability and performance of the position control system are improved. However, neither the bandwidth of the DOb nor the nominal inertia matrix can be freely increased due to practical design constraints, e.g., the robust position controller becomes more noise-sensitive when they are increased. The proposed stability analysis provides insights into the dynamic behavior of DOb-based robust motion control systems. It is theoretically and experimentally proved that nondiagonal elements of the nominal inertia matrix are useful in improving the stability and in adjusting the tradeoff between robustness and noise sensitivity. The validity of the proposal is verified by simulation and experimental results.

This paper reports on our work conducted during 2020 in the development of actuation and sensing techniques and devices. In gait rehabilitation, active body weight support systems are often needed to guarantee the safety of patients. These support systems are required to operate at two distinct operation points: A high-force operating mode to hold a patient and prevent falls and, conversely, a "transparent mode"that reduces the mechanical impedance of high-force actuators to enable patients, even those who are weak or paralyzed, to easily express movement. However, the ability to deliver high forces and easily manipulate robots is a key challenge in improving the force-based interaction control. Force feedback is an effective approach to reduce the inertia and friction of robots, but stability is paramount particularly when interacting with humans. By modeling the environment as a second-order spring-mass-damper system and considering the phase response, we derived the control parameter gains required to guarantee a stable human-robot interaction. The design of actuators with intrinsically adjustable mechanical properties is a complementary strategy. For instance, the stiffness of actuators can be modulated by adjusting the unsupported length of a cantilever leaf spring. To model the spring stiffness under deflection, an ideal cantilever support model cannot be assumed for a conventional design of a slider with dual roller pairs, particularly with a soft spring. We proposed a beam deflection model considering the non-zero slopes at the contact points between the rollers and spring. The spring parameters were determined to attain the desired range of stiffness with a short traveling distance of the adjuster. For a single degree-offreedom (DOF) linear motion, we investigated a macro-mini actuation concept using an electrorheological-fluid brake. Balancing these conflicting requirements between the driving force generated from the non-backdrivable high-force unit and the low-inertia and low-friction unit was achieved by controlling the electrical field affecting the fluid yield stress between the rotor and stator electrodes of the brake. One of the limitations of the feedback control scheme was noisy force sensors. We discuss our novel proximity and force sensor using optical techniques and conclude with a description of low-profile 3-DOF flat motor.

Sensing is essential in human cooperative robots to realize safe and powerful operations against contact with the surrounding environment. Contact sensing has been studied for manipulators to avoid accidents caused by collisions between humans and robots. Conventional research has demonstrated that contact sensing requires many sensors or has a limited measurable range. In the conventional research without sensors, modeling systems, such as frictional force and plant parameters, have been used to estimate the contact force. However, a high reduction ratio mechanism for achieving powerful operations hinders accurate force estimation. This study proposes a method to estimate the contact force and contact position on a manipulator with a high reduction ratio mechanism by installing only one force/torque sensor on the base frame of the manipulator. By using the proposed method, the contact force and contact position can be detected regardless of the location where the contact force is applied. Furthermore, when the contact force is applied in a location where the contact position cannot be accurately estimated, an estimated disturbance or a link motion is used to determine the contact position. The effectiveness of the proposed method is validated through experiments.