Robust force control based on estimation of environment

Satoshi Komada, Kouichi Nomura, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

The authors propose force control strategies that are robust against disturbance and parameter variation. These strategies are expansions of a disturbance observer which estimates disturbance and parameter variations of motors with a simple computation. Observers are proposed to estimate parameter variations of the environment on which the force is imposed. Since the control system is fixed to a nominal system by the observer, a second derivative of force can be controlled. Force control is introduced using a controller of the second derivative of the force. The force response similar to the force command is realized in spite of the disturbance and the parameter variations of the control object. The effectiveness was confirmed experimentally.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ1362-1367
ページ数6
ISBN(印刷版)0818627204
出版ステータスPublished - 1992 12 1
イベントProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
継続期間: 1992 5 121992 5 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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