A comparison study for force sensor and reaction force observer based robust force control systems

Emre Sariyildiz, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, two disturbance observer (DOB) based explicit robust force control systems, in which a force sensor and a reaction force observer (RFOB) are used to detect contact forces, are compared in terms of stability, robustness and performance. A force sensor detects contact forces implicitly by estimating the strains of a strain gauge. The compliancy of a force sensor degrades the stability and performance of a force control system. Besides, noise is another challenging issue in a force sensor based force control implementation. Against a force sensor, a RFOB detects contact forces explicitly by using the acceleration and force/torque signals of a servo system. Inasmuch as a RFOB detects contact forces explicitly, the stability and performance of an explicit force control system are improved intrinsically. However, a RFOB has a model based control structure; therefore, the stability and performance of the robust force control system may deteriorate by the imperfect identification of system uncertainties. New analysis and design tools are provided for the DOB based robust force control systems. Simulation and experimental results show the viability of the proposals.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1156-1161
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Sariyildiz, E., & Ohnishi, K. (2014). A comparison study for force sensor and reaction force observer based robust force control systems. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1156-1161). [6864777] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864777