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

Other

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

Fingerprint

Force control
Robust control
Control systems
Sensors
Contact sensors
Servomechanisms
Strain gages
Identification (control systems)
Torque

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

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

A comparison study for force sensor and reaction force observer based robust force control systems. / Sariyildiz, Emre; Ohnishi, Kouhei.

IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1156-1161 6864777.

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

Sariyildiz, E & Ohnishi, K 2014, A comparison study for force sensor and reaction force observer based robust force control systems. in IEEE International Symposium on Industrial Electronics., 6864777, Institute of Electrical and Electronics Engineers Inc., pp. 1156-1161, 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014, Istanbul, Turkey, 14/6/1. https://doi.org/10.1109/ISIE.2014.6864777
Sariyildiz E, Ohnishi K. A comparison study for force sensor and reaction force observer based robust force control systems. In IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1156-1161. 6864777 https://doi.org/10.1109/ISIE.2014.6864777
Sariyildiz, Emre ; Ohnishi, Kouhei. / A comparison study for force sensor and reaction force observer based robust force control systems. IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1156-1161
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