Sensorless force control of direct drive manipulator

F. Yu, Toshiyuki Murakami, K. Ohnishi

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

17 Citations (Scopus)

Abstract

This paper describes a method of a sensorless force control of direct-drive robot which has three-degrees-of-freedom. In the proposed method, a disturbance observer, which estimates the total sum of disturbance effects, is employed in each joint. First, the robust motion controller is realized by the feedback of the estimated disturbance torque. Secondly, the reaction force (reaction torque) is calculated from the estimated disturbance torque and the motion equation of robot. Finally, the calculated reaction force is fed back to obtain the sensorless force controller. This method is so simple that the total algorithm is executed in the on-line calculation. Several experimental results' are also shown to confirm the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages311-315
Number of pages5
ISBN (Electronic)0780300424
DOIs
Publication statusPublished - 1992 Jan 1
Event1992 IEEE International Symposium on Industrial Electronics, ISIE 1992 - Xian, China
Duration: 1992 May 251992 May 29

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference1992 IEEE International Symposium on Industrial Electronics, ISIE 1992
CountryChina
CityXian
Period92/5/2592/5/29

Fingerprint

Force control
Manipulators
Torque
Robots
Controllers
Equations of motion
Feedback

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Yu, F., Murakami, T., & Ohnishi, K. (1992). Sensorless force control of direct drive manipulator. In Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992 (pp. 311-315). [279563] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.1992.279563

Sensorless force control of direct drive manipulator. / Yu, F.; Murakami, Toshiyuki; Ohnishi, K.

Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 311-315 279563 (IEEE International Symposium on Industrial Electronics).

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

Yu, F, Murakami, T & Ohnishi, K 1992, Sensorless force control of direct drive manipulator. in Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992., 279563, IEEE International Symposium on Industrial Electronics, Institute of Electrical and Electronics Engineers Inc., pp. 311-315, 1992 IEEE International Symposium on Industrial Electronics, ISIE 1992, Xian, China, 92/5/25. https://doi.org/10.1109/ISIE.1992.279563
Yu F, Murakami T, Ohnishi K. Sensorless force control of direct drive manipulator. In Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 311-315. 279563. (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.1992.279563
Yu, F. ; Murakami, Toshiyuki ; Ohnishi, K. / Sensorless force control of direct drive manipulator. Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 311-315 (IEEE International Symposium on Industrial Electronics).
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