Title :
Application of internal model control to sensorless force control on surfaces
Author :
Suzuki, Ryoichi ; Yoshita, Tetsuro ; Steurer, Björn ; Kobayashi, Nobuaki
Author_Institution :
Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi
Abstract :
In this paper, we propose an internal model control (IMC) system applied for sensorless force control on surfaces. This method is expected to be used for surface-polishing, deburring and rubbing machines. The IMC based controller has properties of disturbance decoupling, tracking performance and disturbance estimation. The previous paper introduced an IMC scheme for sensorless force control. In this paper, we present an extended IMC system and discuss the stability of its closed-loop system. Also, we verify the effectiveness of this system through experiments.
Keywords :
closed loop systems; force control; stability; tracking; closed-loop system stability; disturbance decoupling; disturbance estimation; internal model control system; rubbing machine; sensorless force control; surface deburring; surface polishing; tracking performance; Control system synthesis; Control systems; Feedback control; Force control; Force sensors; Mathematical model; Robot sensing systems; Sensorless control; Stability; Transfer functions;
Conference_Titel :
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4244-1767-4
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2008.4757935
