TY - GEN
T1 - Force sensorless impedance control by disturbance observer
AU - Murakami, Toshiyuki
AU - Nakamura, R.
AU - Yu, F.
AU - Ohnishi, K.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - This paper describes a force sensorless control in a multi-degree-of-freedom manipulator. In active compliance control, the force sensor is attached to the manipulator to detect the reaction force. The force sensor is powerful and convenient. However it makes the structure of the manipulator system complicated. To improve this problem, the authors propose a force sensorless control strategy based on a disturbance observer. This paper shows that the disturbance observer is utilized not only for disturbance suppression but also reaction force estimation. The experimental results of force sensorless compliance control are also shown to confirm the validity of the proposed control method.
AB - This paper describes a force sensorless control in a multi-degree-of-freedom manipulator. In active compliance control, the force sensor is attached to the manipulator to detect the reaction force. The force sensor is powerful and convenient. However it makes the structure of the manipulator system complicated. To improve this problem, the authors propose a force sensorless control strategy based on a disturbance observer. This paper shows that the disturbance observer is utilized not only for disturbance suppression but also reaction force estimation. The experimental results of force sensorless compliance control are also shown to confirm the validity of the proposed control method.
UR - http://www.scopus.com/inward/record.url?scp=85054153670&partnerID=8YFLogxK
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U2 - 10.1109/PCCON.1993.264158
DO - 10.1109/PCCON.1993.264158
M3 - Conference contribution
AN - SCOPUS:85054153670
T3 - Proceedings of Power Conversion Conference - Yokohama 1993
SP - 352
EP - 357
BT - Proceedings of Power Conversion Conference - Yokohama 1993
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1993 Power Conversion Conference, PCC Yokohama 1993
Y2 - 19 April 1993 through 21 April 1993
ER -