Robust force control based on estimation of environment

Satoshi Komada, Kouichi Nomura, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori

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

11 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1362-1367
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1992 Dec 1
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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