Patent Number: 6,253,120

Title: Position and/or force controlling apparatus using sliding mode decoupling control

Abstract: An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane .sigma. which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane .sigma.. In this case, even if the uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain k.sub.i (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.

Inventors: Shimada; Akira (Narashino, JP), Ohtachi; Yoshinobu (Narashino, JP), Mita; Tsutomu (Yokohama, JP)

Assignee: Seiko Seiki Kabushiki Kaisha

International Classification: B24B 27/04 (20060101); B24B 27/00 (20060101); B25J 9/16 (20060101); G05B 19/19 (20060101); G05B 13/04 (20060101); G05B 015/00 (); B25J 009/00 ()

Expiration Date: 06/26/2018