Application of internal model control to sensorless force control on surfaces

Author

Suzuki, Ryoichi ; Yoshita, Tetsuro ; Steurer, Björn ; Kobayashi, Nobuaki

Author_Institution

Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi

fYear

2008

fDate

10-13 Nov. 2008

Firstpage

97

Lastpage

102

Abstract

In this paper, we propose an internal model control (IMC) system applied for sensorless force control on surfaces. This method is expected to be used for surface-polishing, deburring and rubbing machines. The IMC based controller has properties of disturbance decoupling, tracking performance and disturbance estimation. The previous paper introduced an IMC scheme for sensorless force control. In this paper, we present an extended IMC system and discuss the stability of its closed-loop system. Also, we verify the effectiveness of this system through experiments.

Keywords

closed loop systems; force control; stability; tracking; closed-loop system stability; disturbance decoupling; disturbance estimation; internal model control system; rubbing machine; sensorless force control; surface deburring; surface polishing; tracking performance; Control system synthesis; Control systems; Feedback control; Force control; Force sensors; Mathematical model; Robot sensing systems; Sensorless control; Stability; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE

Conference_Location

Orlando, FL

ISSN

1553-572X

Print_ISBN

978-1-4244-1767-4

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2008.4757935

Filename

4757935