Force sensorless control in a flexible link arm based on estimated reaction torque

Masaaki Shibata, Kenichi Isomura, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper describes a nobel method of force/torque sensorless control for a single link flexible arm. The flexible arm includes multiple oscillation modes and its dynamical behavior is generally described as multiple mass spring system. In such a system, it is necessary to suppress the vibrations induced by the multiple oscillation modes. To address the above issue, first, this paper shows that the system stability increases by a feedback of reaction torque. In the proposed approach, the reaction torque is identified by using disturbance observer. Furthermore it is possible to estimate the position where the flexible link arm contacts with target environment. These features make it easy to realize the force/torque sensorless control. Second, the analytical comparison between the sensor-based approach and sensorless approach is described. These analyses show that sensorless approach is effective for a realization of stable force control in the flexible link arm system. The validity of the proposed method is confirmed in several experimental results.

Original languageEnglish
Pages (from-to)198-202
Number of pages5
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume63
Issue number2
Publication statusPublished - 1997
Externally publishedYes

Fingerprint

Torque
Force control
System stability
Feedback
Sensorless control
Sensors

Keywords

  • Estimated contact position
  • Estimated reaction torque
  • Flexible link arm
  • Force sensorless control

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Force sensorless control in a flexible link arm based on estimated reaction torque. / Shibata, Masaaki; Isomura, Kenichi; Murakami, Toshiyuki; Ohnishi, Kouhei.

In: Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Vol. 63, No. 2, 1997, p. 198-202.

Research output: Contribution to journalArticle

@article{703b65a6fbc44955a4ed42b0d1a23a3e,
title = "Force sensorless control in a flexible link arm based on estimated reaction torque",
abstract = "This paper describes a nobel method of force/torque sensorless control for a single link flexible arm. The flexible arm includes multiple oscillation modes and its dynamical behavior is generally described as multiple mass spring system. In such a system, it is necessary to suppress the vibrations induced by the multiple oscillation modes. To address the above issue, first, this paper shows that the system stability increases by a feedback of reaction torque. In the proposed approach, the reaction torque is identified by using disturbance observer. Furthermore it is possible to estimate the position where the flexible link arm contacts with target environment. These features make it easy to realize the force/torque sensorless control. Second, the analytical comparison between the sensor-based approach and sensorless approach is described. These analyses show that sensorless approach is effective for a realization of stable force control in the flexible link arm system. The validity of the proposed method is confirmed in several experimental results.",
keywords = "Estimated contact position, Estimated reaction torque, Flexible link arm, Force sensorless control",
author = "Masaaki Shibata and Kenichi Isomura and Toshiyuki Murakami and Kouhei Ohnishi",
year = "1997",
language = "English",
volume = "63",
pages = "198--202",
journal = "Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering",
issn = "0912-0289",
publisher = "Japan Society for Precision Engineering",
number = "2",

}

TY - JOUR

T1 - Force sensorless control in a flexible link arm based on estimated reaction torque

AU - Shibata, Masaaki

AU - Isomura, Kenichi

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 1997

Y1 - 1997

N2 - This paper describes a nobel method of force/torque sensorless control for a single link flexible arm. The flexible arm includes multiple oscillation modes and its dynamical behavior is generally described as multiple mass spring system. In such a system, it is necessary to suppress the vibrations induced by the multiple oscillation modes. To address the above issue, first, this paper shows that the system stability increases by a feedback of reaction torque. In the proposed approach, the reaction torque is identified by using disturbance observer. Furthermore it is possible to estimate the position where the flexible link arm contacts with target environment. These features make it easy to realize the force/torque sensorless control. Second, the analytical comparison between the sensor-based approach and sensorless approach is described. These analyses show that sensorless approach is effective for a realization of stable force control in the flexible link arm system. The validity of the proposed method is confirmed in several experimental results.

AB - This paper describes a nobel method of force/torque sensorless control for a single link flexible arm. The flexible arm includes multiple oscillation modes and its dynamical behavior is generally described as multiple mass spring system. In such a system, it is necessary to suppress the vibrations induced by the multiple oscillation modes. To address the above issue, first, this paper shows that the system stability increases by a feedback of reaction torque. In the proposed approach, the reaction torque is identified by using disturbance observer. Furthermore it is possible to estimate the position where the flexible link arm contacts with target environment. These features make it easy to realize the force/torque sensorless control. Second, the analytical comparison between the sensor-based approach and sensorless approach is described. These analyses show that sensorless approach is effective for a realization of stable force control in the flexible link arm system. The validity of the proposed method is confirmed in several experimental results.

KW - Estimated contact position

KW - Estimated reaction torque

KW - Flexible link arm

KW - Force sensorless control

UR - http://www.scopus.com/inward/record.url?scp=0031070405&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031070405&partnerID=8YFLogxK

M3 - Article

VL - 63

SP - 198

EP - 202

JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

SN - 0912-0289

IS - 2

ER -