Art

J-GLOBAL ID：201602210045792015   Reference number：16A0272945

Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer

バネ比および瞬時状態オブザーバに基づく工業用ロボットの安定な力制御

Author (6)： YOSHIOKA Takashi (Nagaoka Univ. of Technol.) ,  YABUKI Akinori (Nagaoka Univ. of Technol.) ,  YOKOKURA Yuki (Nagaoka Univ. of Technol.) ,  OHISHI Kiyoshi (Nagaoka Univ. of Technol.) ,  MIYAZAKI Toshimasa (Nagaoka Univ. of Technol.) ,  PHUONG Thao Tran (Nagaoka Univ. of Technol.)
Material： IEEJ Journal of Industry Applications  (IEEJ J Ind Appl)
Volume： 5  Issue： 2  Page： 132-140 (J-STAGE)  Publication year： 2016 
JST Material Number： F1055A  ISSN： 2187-1094  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *industrial robot ,  *coordinate system ,  *inertia ,  *power control ,  *state estimation ,  *system observer ,  *motion study ,  torsional moment ,  bandwidth ,  resonance (vibration) ,  robot arm ,  experiment ,  simulation ,  stability analysis ,  Bode diagram ,  behavior analysis ,  Numerical Simulation
Semi thesaurus term： 二慣性系 ,  ねじりトルク ,  共振比制御

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (16)：

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• (4) T. T. Phuong, K. Ohishi, Y. Yokokura, and C. Mitsantisuk: “FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation”, IEEE Trans. Ind. Electron., Vol. 61, No. 2, pp. 994-1008 (2014)
• (5) W. Maebashi, K. Ito, K. Matsuo, and M. Iwasaki: “High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation”, IEEJ Trans. IA, Vol. 134, No. 5, pp. 535-543 (2014) (in Japanese)

Terms in the title (5)： バネ ,  瞬時 ,  オブザーバ ,  工業用ロボット ,  力制御