Art

J-GLOBAL ID：201802234393674859   Reference number：18A0592546

Force Sensorless Fine Force Control Based on Notch-Type Friction-Free Disturbance Observers

ノッチ型摩擦フリー外乱オブザーバを用いた力センサレスファイン力制御

Author (6)： Nakamura Hiroshi (Motion Control Labs., Nagaoka University of Technology) ,  Ohishi Kiyoshi (Motion Control Labs., Nagaoka University of Technology) ,  Yokokura Yuki (Motion Control Labs., Nagaoka University of Technology) ,  Kamiya Naoki (Motion Control Labs., Nagaoka University of Technology) ,  Miyazaki Toshimasa (Motion Control Labs., Nagaoka University of Technology) ,  Tsukamoto Akifumi (Hirata Corporation)
Material： IEEJ Journal of Industry Applications  (IEEJ J Ind Appl)
Volume： 7  Issue： 2  Page： 117-126(J-STAGE)  Publication year： 2018 
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： *notch ,  *Friction ,  *system observer ,  *sensorless control ,  *power control ,  error (measure) ,  reaction force ,  signal ,  vibration response ,  *disturbance observer ,  estimate error ,  static friction
Semi thesaurus term： ディザー信号

Author keywords (4)： force sensorless force control ,  disturbance observer ,  reaction force observer ,  industrial robot

JST classification (2)： System identification  (IA02040O) ,  Control equipment in general  (IC02010N)

Reference (18)：

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• (2) S. J. Huang and C. Y. Shy: “Fuzzy logic for constant force control of end milling”, IEEE Trans. Robotics and Automation, Vol. 46, No. 1, pp. 169-176 (1999)
• (3) T. Insperger, L. L. Kovacs, P. Galambos, and G. Stepan: “Increasing the Accuracy of Digital Force Control Process Using the Act-and-Wait Concept”, IEEE/ASME Trans. on Mechatronics, Vol. 15, No. 2, pp. 291-298 (2009)
• (4) K. Kaneko, K. Tanie, and K. Komoriya: “Torque Control of a DC Motor with Reduction Gears (3rd Report, Drive Control System with Flexible Joint and Its Torque Control Characteristics)”, Trans. of the Japan Society of Mechanical Engineers (C), Vol. 62, No. 602, pp. 133-140 (1996)
• (5) M. Hashimoto, Y. Kiyosawa, and R. P. Paul: “A torque sensing technique for robots with harmonic drives”, IEEE Trans. Robotics and Automation, Vol. 9, No. 1, pp. 108-116 (1993)

Terms in the title (5)： ノッチ ,  摩擦 ,  外乱オブザーバ ,  力センサ ,  力制御