Dual notch-type high-order frinction-free force observers for force sensorless fine force control
Dual notch-type high-order frinction-free force observers for force sensorless fine force control
复制标题
用于无力传感器精细力控制的双缺口型高阶无摩擦力观测器
DOI：
10.1109/iecon.2017.8217173
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
K. Ohishi
中科院分区：
文献类型：
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作者：
T. Miyazaki;Naoki Kamiya;H. Nakamura;Y. Yokokura;K. Ohishi
为了实现精细的无力传感器力控制，本文提出了一种新的陷波型无摩擦干扰观测器（DOB）和一种新的陷波型无摩擦反力观测器（FFRFO）。无力传感器力控制系统通常会对静摩擦现象产生影响。为了克服这个问题，本文提出了一种新的无力传感器控制系统，使用陷波型无摩擦反力观测器，其内部系统是基于陷波型无摩擦干扰观测器的加速度控制。所提出的系统的有效性，使用实际的工业机器人的实验证实。
In order to realize a fine force sensorless force control, this paper proposes a new notch-type friction-free disturbance observer(DOB) and a new notch-type friction-free reaction force observer(FFRFO). Generally, a force sensorless force control system always has influence on static friction phenomenon. To overcome this problem, this paper proposes a new force sensorless control system using the notch-type friction free reaction force observer, whose inner system is the proposed acceleration control based on the notch-type friction free disturbance observer. The effectiveness of the proposed system is confirmed by experiments using an actual industrial robot.