DocumentCode
3500452
Title
Internal model control based controller for sensorless force control and its applications to myoelectric robotic hand
Author
Suzuki, Ryoichi ; Kobayashi, Hirokazu ; Kobayashi, Nobuaki
Author_Institution
Dept. of Robot., Kanazawa Inst. Technol., Nonoichi, Japan
fYear
2009
fDate
3-5 Nov. 2009
Firstpage
1609
Lastpage
1614
Abstract
In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative experiments.
Keywords
force control; robots; stability; internal model control based controller; myoelectric robotic hand; sensorless force control; sensorless grasping control; stability; Control systems; Feedback; Force control; Force sensors; Grasping; Mechanical sensors; Motion control; Robot sensing systems; Sensorless control; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location
Porto
ISSN
1553-572X
Print_ISBN
978-1-4244-4648-3
Electronic_ISBN
1553-572X
Type
conf
DOI
10.1109/IECON.2009.5414760
Filename
5414760
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