Sensorless force control of direct drive manipulator

F. Yu; T. Murakami; K. Ohnishi

doi:10.1109/ISIE.1992.279563

Sensorless force control of direct drive manipulator

F. Yu, T. Murakami, K. Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

This paper describes a method of a sensorless force control of direct-drive robot which has three-degrees-of-freedom. In the proposed method, a disturbance observer, which estimates the total sum of disturbance effects, is employed in each joint. First, the robust motion controller is realized by the feedback of the estimated disturbance torque. Secondly, the reaction force (reaction torque) is calculated from the estimated disturbance torque and the motion equation of robot. Finally, the calculated reaction force is fed back to obtain the sensorless force controller. This method is so simple that the total algorithm is executed in the on-line calculation. Several experimental results' are also shown to confirm the validity of the proposed method.

Original language	English
Title of host publication	Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	311-315
Number of pages	5
ISBN (Electronic)	0780300424
DOIs	https://doi.org/10.1109/ISIE.1992.279563
Publication status	Published - 1992 Jan 1
Event	1992 IEEE International Symposium on Industrial Electronics, ISIE 1992 - Xian, China Duration: 1992 May 25 → 1992 May 29

Publication series

Name	IEEE International Symposium on Industrial Electronics

Conference

Conference	1992 IEEE International Symposium on Industrial Electronics, ISIE 1992
Country/Territory	China
City	Xian
Period	92/5/25 → 92/5/29

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.1992.279563

Cite this

Yu, F., Murakami, T., & Ohnishi, K. (1992). Sensorless force control of direct drive manipulator. In Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992 (pp. 311-315). Article 279563 (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.1992.279563

Sensorless force control of direct drive manipulator. / Yu, F.; Murakami, T.; Ohnishi, K.
Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 311-315 279563 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yu, F, Murakami, T & Ohnishi, K 1992, Sensorless force control of direct drive manipulator. in Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992., 279563, IEEE International Symposium on Industrial Electronics, Institute of Electrical and Electronics Engineers Inc., pp. 311-315, 1992 IEEE International Symposium on Industrial Electronics, ISIE 1992, Xian, China, 92/5/25. https://doi.org/10.1109/ISIE.1992.279563

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N2 - This paper describes a method of a sensorless force control of direct-drive robot which has three-degrees-of-freedom. In the proposed method, a disturbance observer, which estimates the total sum of disturbance effects, is employed in each joint. First, the robust motion controller is realized by the feedback of the estimated disturbance torque. Secondly, the reaction force (reaction torque) is calculated from the estimated disturbance torque and the motion equation of robot. Finally, the calculated reaction force is fed back to obtain the sensorless force controller. This method is so simple that the total algorithm is executed in the on-line calculation. Several experimental results' are also shown to confirm the validity of the proposed method.

AB - This paper describes a method of a sensorless force control of direct-drive robot which has three-degrees-of-freedom. In the proposed method, a disturbance observer, which estimates the total sum of disturbance effects, is employed in each joint. First, the robust motion controller is realized by the feedback of the estimated disturbance torque. Secondly, the reaction force (reaction torque) is calculated from the estimated disturbance torque and the motion equation of robot. Finally, the calculated reaction force is fed back to obtain the sensorless force controller. This method is so simple that the total algorithm is executed in the on-line calculation. Several experimental results' are also shown to confirm the validity of the proposed method.

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Sensorless force control of direct drive manipulator

Abstract

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