Torque Sensorless Control in Multidegree-of-Freedom Manipulator

Toshiyuki Murakam, Fangming Yu, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

1072 Citations (Scopus)


The paper describes a torque sensorless control in a multidegree-of-freedom manipulator. In the proposed method, two disturbance observers are applied to each joint. One is used to realize the robust motion controller. The other is used to obtain a sensorless torque controller. First, a robust acceleration controller based on the disturbance observer is shown. To obtain the sensorless torque control, it is necessary to calculate reaction torque when the mechanical system performs a force task. Second, we explain the calculation method of the reaction torque. Then the proposed method is expanded to workspace force control in the multidegree-of-freedom manipulator. Finally, several experimental results are shown to confirm the validity of the proposed sensorless force controller.

Original languageEnglish
Pages (from-to)259-265
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - 1993 Apr

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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