Sensorless force control with force error observer

Wataru Iida, Kouhei Ohnishi

Research output: Contribution to conferencePaper

12 Citations (Scopus)

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 languageEnglish
Pages157-162
Number of pages6
Publication statusPublished - 2003 Dec 1
Event2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
Duration: 2003 Dec 102003 Dec 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Iida, W., & Ohnishi, K. (2003). Sensorless force control with force error observer. 157-162. Paper presented at 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings, Maribor, Slovenia.