Art

J-GLOBAL ID：201702270815798530   Reference number：17A1470194

Friction observer design for optical sensor based torque control

光センサベーストルク制御のための摩擦オブザーバの設計

Author (4)： WEI Chang (Waseda Univ.) ,  WANG Wei (Waseda Univ.) ,  KUO Chiahao (Waseda Univ.) ,  SUGANO Shigeki (Waseda Univ.)
Material： 日本ロボット学会学術講演会予稿集(CD-ROM)  (日本ロボット学会学術講演会(CD-ROM))
Volume： 35th  Page： ROMBUNNO.1C3-01  Publication year： Sep. 11, 2017 
JST Material Number： L4867A  Document type： Proceedings
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *torque control ,  design ,  *system observer ,  optical sensor ,  friction ,  system design ,  computer simulation ,  compensation ,  actuator ,  closed loop system ,  step response
Semi thesaurus term： observer design ,  system observer ,  friction compensation

JST classification (1)： System identification  (IA02040O)

Reference (10)：

• Ham R V, Sugar T G, Vanderborght B, et al. Compliant actuator designs[J]. IEEE Robotics & Automation Magazine, 16,3, pp.81-94, 2009.
• Chai L, Yao F. Sliding mode control with friction observer and load observer of PMSM[C]// International Conference on Control, Automation and Systems. Institute of Control, Robotics and Systems - ICROS, pp.1102-1106,2015.
• Xia Q H, Lim S Y, Ang M H, et al. Adaptive joint friction compensation using a model-based operational space velocity observer[C]// IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA. IEEE, Vol.3, pp.3081-3086,2004.
• Tomei P. Robust adaptive friction compensation for tracking control of robot manipulators[J]. IEEE Transactions on Automatic Control, 45,11, pp.2164-2169, 2000.
• Armstrong B S R. Dynamics for robot control: friction modeling and ensuring excitation during parameter identification[M]. Stanford University, 1988.

Terms in the title (5)： 光センサ ,  トルク制御 ,  摩擦 ,  オブザーバ ,  設計