Title :
Sensorless force control using H∞ acceleration controller
Author_Institution :
Nagaoka Univ. of Technol., Niigata, Japan
Abstract :
This paper proposes manipulator force control without a force sensor. The proposed force control system is designed with an H∞ acceleration controller and a reaction force estimation system. The H∞ acceleration controller realizes a fine and robust motion control. The reaction force estimation system consists of a torque observer and inverse dynamics calculation, and its estimated value is fed to the force control system
Keywords :
acceleration control; dynamics; force control; manipulators; position control; state estimation; torque control; H∞ acceleration controller; fine robust motion control; inverse dynamics; reaction force estimation system; sensorless force control; torque observer; Acceleration; Control design; Control systems; Design methodology; Force control; Manipulator dynamics; Robot sensing systems; Sensorless control; State feedback; Transfer functions;
Conference_Titel :
Motion Control Proceedings, 1993., Asia-Pacific Workshop on Advances in
Print_ISBN :
0-7803-1223-6
DOI :
10.1109/APWAM.1993.316179
