Torque sensorless control in multidegree-of-freedom manipulator

Toshiyuki Murakami, Fangming Yu, Kouhei Ohnishi

Research output: Contribution to journalArticle

915 Citations (Scopus)

Abstract

The paper describes a torque sensorless control in a multidegree-of-freedom manipulator. In the proposed method, two disturbance observers are applied to each joint. One is used to realize the robust motion controller. The other is used to obtain a sensorless torque controller. First, a robust acceleration controller based on the disturbance observer is shown. To obtain the sensorless torque control, it is necessary to calculate reaction torque when the mechanical system performs a force task. Second, we explain the calculation method of the reaction torque. Then the proposed method is expanded to workspace force control in the multidegree-of-freedom manipulator. Finally, several experimental results are shown to confirm the validity of the proposed sensorless force controller.

Original languageEnglish
Pages (from-to)259-265
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Volume40
Issue number2
DOIs
Publication statusPublished - 1993 Apr

Fingerprint

Manipulators
torque
manipulators
Torque
controllers
Controllers
disturbances
Torque control
Force control
Sensorless control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

Torque sensorless control in multidegree-of-freedom manipulator. / Murakami, Toshiyuki; Yu, Fangming; Ohnishi, Kouhei.

In: IEEE Transactions on Industrial Electronics, Vol. 40, No. 2, 04.1993, p. 259-265.

Research output: Contribution to journalArticle

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