Robust force sensorless control in motion control system

Atsushi Kato, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

This paper describes robust force sensorless control system in motion control. Motion control technology has been contributed to a variety of industrial applications. The achievement of force control is one of the deep technical issues in motion control and industrial applications. Force control has been researched for more than four decades. Generally, force sensor has been utilized in force control. However, force sensor has certain disadvantages and prevent realization of precise force control. Especially, sensor noise causes degradation on control performance. Thus, force sensorless control has been developed. Here, this paper observes both performance of force control system with force sensor and force sensorless control system by the experiments. In addition, this paper classifies external force into reaction force and action force. Most force control system is the target of reaction force control. However, action force control system is required to adopt to more variety applications. Thus, at first, reaction force control system and action force control system is described. In addition, the relationship between both force control system and control stiffness is expressed. Control stiffness is a performance index of motion control. Control stiffness is then used to evaluate the performance of both force control system. Experimental results are presented the behavior of reaction force control and action control.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages165-170
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Force control
Motion control
Control systems
Sensors
Stiffness
Sensorless control
Industrial applications

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kato, A., & Ohnishi, K. (2006). Robust force sensorless control in motion control system. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 165-170). [1631652] https://doi.org/10.1109/AMC.2006.1631652

Robust force sensorless control in motion control system. / Kato, Atsushi; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 165-170 1631652.

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

Kato, A & Ohnishi, K 2006, Robust force sensorless control in motion control system. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631652, pp. 165-170, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631652
Kato A, Ohnishi K. Robust force sensorless control in motion control system. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 165-170. 1631652 https://doi.org/10.1109/AMC.2006.1631652
Kato, Atsushi ; Ohnishi, Kouhei. / Robust force sensorless control in motion control system. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 165-170
@inproceedings{4ca981f8e3b04b4fa470416cb358dc2e,
title = "Robust force sensorless control in motion control system",
abstract = "This paper describes robust force sensorless control system in motion control. Motion control technology has been contributed to a variety of industrial applications. The achievement of force control is one of the deep technical issues in motion control and industrial applications. Force control has been researched for more than four decades. Generally, force sensor has been utilized in force control. However, force sensor has certain disadvantages and prevent realization of precise force control. Especially, sensor noise causes degradation on control performance. Thus, force sensorless control has been developed. Here, this paper observes both performance of force control system with force sensor and force sensorless control system by the experiments. In addition, this paper classifies external force into reaction force and action force. Most force control system is the target of reaction force control. However, action force control system is required to adopt to more variety applications. Thus, at first, reaction force control system and action force control system is described. In addition, the relationship between both force control system and control stiffness is expressed. Control stiffness is a performance index of motion control. Control stiffness is then used to evaluate the performance of both force control system. Experimental results are presented the behavior of reaction force control and action control.",
author = "Atsushi Kato and Kouhei Ohnishi",
year = "2006",
doi = "10.1109/AMC.2006.1631652",
language = "English",
volume = "2006",
pages = "165--170",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Robust force sensorless control in motion control system

AU - Kato, Atsushi

AU - Ohnishi, Kouhei

PY - 2006

Y1 - 2006

N2 - This paper describes robust force sensorless control system in motion control. Motion control technology has been contributed to a variety of industrial applications. The achievement of force control is one of the deep technical issues in motion control and industrial applications. Force control has been researched for more than four decades. Generally, force sensor has been utilized in force control. However, force sensor has certain disadvantages and prevent realization of precise force control. Especially, sensor noise causes degradation on control performance. Thus, force sensorless control has been developed. Here, this paper observes both performance of force control system with force sensor and force sensorless control system by the experiments. In addition, this paper classifies external force into reaction force and action force. Most force control system is the target of reaction force control. However, action force control system is required to adopt to more variety applications. Thus, at first, reaction force control system and action force control system is described. In addition, the relationship between both force control system and control stiffness is expressed. Control stiffness is a performance index of motion control. Control stiffness is then used to evaluate the performance of both force control system. Experimental results are presented the behavior of reaction force control and action control.

AB - This paper describes robust force sensorless control system in motion control. Motion control technology has been contributed to a variety of industrial applications. The achievement of force control is one of the deep technical issues in motion control and industrial applications. Force control has been researched for more than four decades. Generally, force sensor has been utilized in force control. However, force sensor has certain disadvantages and prevent realization of precise force control. Especially, sensor noise causes degradation on control performance. Thus, force sensorless control has been developed. Here, this paper observes both performance of force control system with force sensor and force sensorless control system by the experiments. In addition, this paper classifies external force into reaction force and action force. Most force control system is the target of reaction force control. However, action force control system is required to adopt to more variety applications. Thus, at first, reaction force control system and action force control system is described. In addition, the relationship between both force control system and control stiffness is expressed. Control stiffness is a performance index of motion control. Control stiffness is then used to evaluate the performance of both force control system. Experimental results are presented the behavior of reaction force control and action control.

UR - http://www.scopus.com/inward/record.url?scp=33751046856&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33751046856&partnerID=8YFLogxK

U2 - 10.1109/AMC.2006.1631652

DO - 10.1109/AMC.2006.1631652

M3 - Conference contribution

VL - 2006

SP - 165

EP - 170

BT - International Workshop on Advanced Motion Control, AMC

ER -