Sensorless force control of direct drive manipulator

F. Yu, T. Murakami, K. Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)


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 languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)0780300424
Publication statusPublished - 1992 Jan 1
Event1992 IEEE International Symposium on Industrial Electronics, ISIE 1992 - Xian, China
Duration: 1992 May 251992 May 29

Publication series

NameIEEE International Symposium on Industrial Electronics


Conference1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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