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

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2018/03/01タイトル(英語): Force Sensorless Fine Force Control Based on Notch-Type Friction-Free Disturbance Observers著者名: Hiroshi Nakamura (Motion Control Labs., Nagaoka University of Technology), Kiyoshi Ohishi (Motion Control Labs., Nagaoka University of Technology), Yuki Yokokura (Motion Control Labs., Nagaoka University of Technology), Naoki Kamiya (Motion Control Labs.,著者名(英語): Hiroshi Nakamura (Motion Control Labs., Nagaoka University of Technology), Kiyoshi Ohishi (Motion Control Labs., Nagaoka University of Technology), Yuki Yokokura (Motion Control Labs., Nagaoka University of Technology), Naoki Kamiya (Motion Control Labs.,キーワード: force sensorless force control，disturbance observer，reaction force observer，industrial robot要約(英語): In order to realize force sensorless fine 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 is always influenced by the static friction phenomenon. In order to suppress the estimation error due to static friction, a force sensorless force control system uses a dither signal, and a friction free reaction force observer (FFRFO) is used to consider this dither signal. Since the high frequency gain charactheristics of conventional FFRFO are significantly higher than 0dB, the entire force control system sometimes becomes unstable or produces oscillating responses. 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.本誌: IEEJ Journal of Industry Applications Vol.7 No.2 （2018） Special Issue on “Motion Control and its Related Technologies”本誌掲載ページ: 117-126 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/7/2/7_117/_article/-char/ja/ Show more