Force sensorless impedance control by disturbance observer

Toshiyuki Murakami, R. Nakamura, F. Yu, K. Ohnishi

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

63 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of Power Conversion Conference - Yokohama 1993
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages352-357
Number of pages6
ISBN (Electronic)0780304713, 9780780304710
DOIs
Publication statusPublished - 1993 Jan 1
Event1993 Power Conversion Conference, PCC Yokohama 1993 - Yokohama, Japan
Duration: 1993 Apr 191993 Apr 21

Publication series

NameProceedings of Power Conversion Conference - Yokohama 1993

Conference

Conference1993 Power Conversion Conference, PCC Yokohama 1993
CountryJapan
CityYokohama
Period93/4/1993/4/21

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ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Control and Optimization

Cite this

Murakami, T., Nakamura, R., Yu, F., & Ohnishi, K. (1993). Force sensorless impedance control by disturbance observer. In Proceedings of Power Conversion Conference - Yokohama 1993 (pp. 352-357). [264158] (Proceedings of Power Conversion Conference - Yokohama 1993). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PCCON.1993.264158