Abstract
In this paper, novel force control method without force sensor is proposed. In general force control, force sensor such as strain gauge is used. But they have some drawbacks as represented by limited detectable point or narrow bandwidth. Using the proposed force error observer, sensorless force control and estimation of environmental force are realized. It uses only velocity information. It is found that force control results in a shift of inertia, which is named virtual inertia. The effectiveness of proposed controller is confirmed by simulation and experiment.
| Original language | English |
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| Pages | 157-162 |
| Number of pages | 6 |
| Publication status | Published - 2003 Dec 1 |
| Event | 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia Duration: 2003 Dec 10 → 2003 Dec 12 |
Other
| Other | 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings |
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| Country/Territory | Slovenia |
| City | Maribor |
| Period | 03/12/10 → 03/12/12 |
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering