DocumentCode :
3420848
Title :
Observer-based adaptive force control of multi-degrees-of-freedom manipulator
Author :
Murakami, Toshiyuki ; Ohnishi, Kouhei
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
fYear :
1992
fDate :
9-13 Nov 1992
Firstpage :
1500
Abstract :
The authors describe adaptive force control based on a disturbance observer. In the proposed method, the control gains of the force controller are adjusted according to the environment which the manipulator contacts. First, a disturbance observer, which estimates disturbance torque imposed on the manipulator, is applied to each joint. By the feedback of the estimated disturbance torque the total system becomes robust against the disturbance torque. Then, the dynamics including the environment are cleared up, and the workspace force controller is described as a second-order system. Therefore, it becomes easier to apply the adaptive control algorithm to the force controller in the observer-based system. A least-squares method is introduced to estimate the unknown parameters of the environment. Experimental results are presented to verify the proposed adaptive force controller
Keywords :
State estimation; acceleration control; adaptive control; feedback; force control; least squares approximations; parameter estimation; robots; state estimation; adaptive force control; algorithm; degree of freedom; disturbance observer; feedback; gains; least-squares method; manipulator; robots; robust; second-order system; Acceleration; Actuators; Adaptive control; Automatic control; Force control; Manipulator dynamics; Programmable control; Robust control; Robustness; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
Type :
conf
DOI :
10.1109/IECON.1992.254379
Filename :
254379
Link To Document :
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