By Topic

Robust force control based on estimation of environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
S. Komada ; Dept. of Electr. & Electron. Eng., Mie Univ., Japan ; K. Nomura ; M. Ishida ; K. Ohnishi
more authors

The authors propose robot 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

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992