Paper Info
Title
Precise External Torque Estimation For Two-Inertia System Considering Modeling Errors
Abstract
Precise force/torque detection is required to realize precise force/torque control in flexible mechanisms (e.g. geared industrial robots, ball-screw driven stages). Since applying force/torque sensors introduces several disadvantages such as high cost and lowering system rigidity, sensorless estimation methods for a plant with a resonant mode have been proposed. For the sensorless load-side external force/torque estimation for a two-inertia system with a load-side encoder, mainly there are two methods, which have pros and cons in terms of the robustness against the modeling errors in the motor side or the transmission part. This paper proposes a novel design of the load-side external force/torque observer which combines the two conventional observers for more precise estimation even under modeling error effects. Also, through the theoretical analyses of the observer with/without a joint torque sensor, an advantage and limitation of applying a joint torque sensor for external force/torque estimation are revealed. The analyses are validated by simulations and experiments.
Year
Venue
Field
2018
2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC)
Rigidity (psychology),Torque,Torque sensor,Control theory,Computer science,Control engineering,Robustness (computer science),Encoder,Inertia,Robot,Observer (quantum physics)
DocType
ISSN
Citations 
Conference
0743-1619
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Shota Yamada19418.10
Hiroshi Fujimoto211.05