Title :
Internal Model Control Scheme for Sensorless Force Control and Its Application to Rubbing Machines
Author :
Suzuki, Ryoichi ; Torita, Takeshi ; Kobayashi, Nobuaki ; Hofer, Eberhard P.
Author_Institution :
Dept. of Robotics, Kanazawa Inst. of Technol., Ishikawa
Abstract :
In many industrial factories, usually, grinding, lapping, and polishing machines use force sensors for finishing tasks. In this paper, a modified internal model control (IMC) scheme for a sensorless force control is proposed to such kind of rubbing machines. The IMC has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to a rubbing machine, we consider a novel control scheme based on the IMC, and discuss stability of the closed loop system. Moreover, effectiveness of the proposed scheme is confirmed by comparative experiments
Keywords :
closed loop systems; force control; production control; production equipment; stability; closed loop system stability; disturbance decoupling property; disturbance estimation property; grinding machines; internal model control scheme; lapping machines; polishing machines; rubbing machines; sensorless force control; Closed loop systems; Control systems; Finishing; Force control; Force sensors; Lapping; Polishing machines; Production facilities; Sensorless control; Stability; Disturbance estimation; Finishing tasks; Internal model control; Rubbing machine; Sensorless force control;
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
DOI :
10.1109/ICIEA.2006.257156
