@inproceedings{a2c3369db25c450b9ce816040b0259ef,
title = "Robust force control based on estimation of environment",
abstract = "The authors propose force control strategies that are robust against disturbance and parameter variation. These strategies are expansions of a disturbance observer which estimates disturbance and parameter variations of motors with a simple computation. Observers are proposed to estimate parameter variations of the environment on which the force is imposed. Since the control system is fixed to a nominal system by the observer, a second derivative of force can be controlled. Force control is introduced using a controller of the second derivative of the force. The force response similar to the force command is realized in spite of the disturbance and the parameter variations of the control object. The effectiveness was confirmed experimentally.",
author = "Satoshi Komada and Kouichi Nomura and Muneaki Ishida and Kouhei Ohnishi and Takamasa Hori",
year = "1992",
month = dec,
day = "1",
language = "English",
isbn = "0818627204",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "1362--1367",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",
}