Modeling of force sensing and validation of disturbance observer for force control

Seiichiro Katsura, Yuichi Matsumoto, Kouhei Ohnishi

研究成果: Article査読

341 被引用数 (Scopus)

抄録

Controlling robots in contact with the environment is an important problem in industry applications. Generally, a force sensor is used for sensing the external force. It is well known that information of a force sensor has much noise. Furthermore, unstable state is also caused by the narrow bandwidth of force information by a force sensor. This paper shows that stable contact with the environment is difficult when a force sensor is used because of its soft mechanical structure and narrow bandwidth of force sensing. In order to solve the instability of force control, the disturbance observer is implemented instead of the force sensor. The disturbance observer can observe the external force without force sensors. When the disturbance observer is implemented in a robot, a force control system does not include a soft mechanism between a robot and the environment. Since a robot can detect the environmental information directly, a wide bandwidth of force sensing is attained. In this way, this paper solves the problems of force control by considering the force sensing method without changing the control architecture, and the ability of force control is improved. Experimental results show viability of the proposed method.

本文言語English
ページ(範囲)530-538
ページ数9
ジャーナルIEEE Transactions on Industrial Electronics
54
1
DOI
出版ステータスPublished - 2007 2月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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