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H observer based force control without force sensor

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4 Author(s)
Ohishi, K. ; Osaka Inst. of Technol., Japan ; Miyazaki, M. ; Fujita, M. ; Ogino, Y.

The authors propose the force control of a robot manipulator without a force sensor. The proposed force control system is realized by an H acceleration controller and a H force observer. The H acceleration controller regulates the actuator of the robot manipulator by the acceleration control command ωcmd. The H force observer estimates the imposed force to the actuator. Both H systems are designed by the mixed sensitivity H control design method. The experimental results show the response characteristics of both the force sensor feedback force control and the H force observer based force control. It is shown that the system regulates force well

Published in:

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Date of Conference:

28 Oct-1 Nov 1991