Force sensorless impedance control by disturbance observer

Toshiyuki Murakami, R. Nakamura, F. Yu, K. Ohnishi

研究成果: Conference contribution

69 被引用数 (Scopus)

抄録

This paper describes a force sensorless control in a multi-degree-of-freedom manipulator. In active compliance control, the force sensor is attached to the manipulator to detect the reaction force. The force sensor is powerful and convenient. However it makes the structure of the manipulator system complicated. To improve this problem, the authors propose a force sensorless control strategy based on a disturbance observer. This paper shows that the disturbance observer is utilized not only for disturbance suppression but also reaction force estimation. The experimental results of force sensorless compliance control are also shown to confirm the validity of the proposed control method.

本文言語English
ホスト出版物のタイトルProceedings of Power Conversion Conference - Yokohama 1993
出版社Institute of Electrical and Electronics Engineers Inc.
ページ352-357
ページ数6
ISBN(電子版)0780304713, 9780780304710
DOI
出版ステータスPublished - 1993 1 1
イベント1993 Power Conversion Conference, PCC Yokohama 1993 - Yokohama, Japan
継続期間: 1993 4 191993 4 21

出版物シリーズ

名前Proceedings of Power Conversion Conference - Yokohama 1993

Conference

Conference1993 Power Conversion Conference, PCC Yokohama 1993
国/地域Japan
CityYokohama
Period93/4/1993/4/21

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学
  • 制御と最適化

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