Sensorless force control of direct drive manipulator

F. Yu, T. Murakami, K. Ohnishi

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

This paper describes a method of a sensorless force control of direct-drive robot which has three-degrees-of-freedom. In the proposed method, a disturbance observer, which estimates the total sum of disturbance effects, is employed in each joint. First, the robust motion controller is realized by the feedback of the estimated disturbance torque. Secondly, the reaction force (reaction torque) is calculated from the estimated disturbance torque and the motion equation of robot. Finally, the calculated reaction force is fed back to obtain the sensorless force controller. This method is so simple that the total algorithm is executed in the on-line calculation. Several experimental results' are also shown to confirm the validity of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
出版社Institute of Electrical and Electronics Engineers Inc.
ページ311-315
ページ数5
ISBN(電子版)0780300424
DOI
出版ステータスPublished - 1992 1月 1
イベント1992 IEEE International Symposium on Industrial Electronics, ISIE 1992 - Xian, China
継続期間: 1992 5月 251992 5月 29

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Conference

Conference1992 IEEE International Symposium on Industrial Electronics, ISIE 1992
国/地域China
CityXian
Period92/5/2592/5/29

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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