H/sup infinity / observer based force control without force sensor
H/sup infinity / observer based force control without force sensor
复制标题
H/sup 无穷大/基于观测器的力控制，无需力传感器
DOI：
10.1109/iecon.1991.239146
复制
发表时间：
1991
期刊：
影响因子：
--
通讯作者：
Y. Ogino
中科院分区：
文献类型：
--
作者：
K. Ohishi;M. Miyazaki;M. Fujita;Y. Ogino
The authors propose the force control of a robot manipulator without a force sensor. The proposed force control system is realized by an H/sup infinity / acceleration controller and a H/sup infinity / force observer. The H/sup infinity / acceleration controller regulates the actuator of the robot manipulator by the acceleration control command omega /sup cmd/. The H/sup infinity / force observer estimates the imposed force to the actuator. Both H/sup infinity / systems are designed by the mixed sensitivity H/sup infinity / control design method. The experimental results show the response characteristics of both the force sensor feedback force control and the H/sup infinity / force observer based force control. It is shown that the system regulates force well.<<ETX>>
