By Topic

Force control in multi-degree-of-freedom flexible systems — Sensorless technique

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
$31 $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

3 Author(s)
Khalil, I.S.M. ; Fac. of Eng. & natural Sci., Sabanci Univ., Istanbul, Turkey ; Naskali, A.T. ; Sabanovic, A.

This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility are simultaneously utilized to estimate system parameters, dynamics and externally applied forces or torques. The interaction torque estimate is then used to accomplish sensorless torque control assignment. This paper attempts to keep the flexible plant free from any measurement while performing a torque control assignment. However, actuator's parameters and variables are assumed to be available.

Published in:

Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on

Date of Conference:

15-18 Dec. 2009