Name
Abstract | ||
|---|---|---|
This paper proposes force sensorless force control using a notch-type dual disturbance observer. The force control is structured by acceleration and speed controllers. The reaction force estimation system reduces the effect of the static friction using a dither signal. The proposed notch-type dual disturbance observer combines notch- type zero-order friction-free disturbance observer (FF - DOB) and notch-type first-order FFDOB. The proposed disturbance observer has the disturbance suppression characteristics of a notch-type zero-order FFDOB on the high-frequency side and a notch-type first-order FFDOB on the low-frequency side. It has a wide estimation band and allows the improvement of the suppression characteristics against low frequency disturbances. The validity of the proposed notch-type dual disturbance observer is verified through experimental results using an actual industrial robot. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICMECH.2019.8722914 | 2019 IEEE International Conference on Mechatronics (ICM) |
Keywords | Field | DocType |
Disturbance observers,Force,Friction,Force control,Robot sensing systems,Torque | Control theory,Control engineering,Engineering,Observer (quantum physics) | Conference |
Volume | ISBN | Citations |
1 | 978-1-5386-6959-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| N Kamiya | 1 | 4 | 2.56 |
| Kiyoshi Ohishi | 2 | 415 | 71.48 |
| Yuki Yokokura | 3 | 75 | 18.43 |
| Toshimasa Miyazaki | 4 | 7 | 9.95 |