Torque sensorless control in multidegree-of-freedom manipulator

Author

Murakami, Toshiyuki ; Yu, Fangming ; Ohnishi, Kouhei

Author_Institution

Dept. of Electr. Eng., Keio Univ., Yokohama, Japan

Volume

40

Issue

2

fYear

1993

fDate

4/1/1993 12:00:00 AM

Firstpage

259

Lastpage

265

Abstract

A torque sensorless control for a multi-degree-of-freedom manipulator is described. In the method, two disturbance observers are applied to each joint. One is used to realize a robust motion controller. The other is used to obtain a sensorless torque controller. A robust acceleration controller based on the disturbance observer is shown. To obtain the sensorless torque control, it is necessary to calculate the reaction torque when the mechanical system performs a force task. The calculation method for the reaction torque is explained. Then the method is expanded to workspace force control in the multi-degree-of-freedom manipulator. Several experimental results are shown to confirm the validity of the proposed sensorless force controller

Keywords

acceleration control; manipulators; torque control; disturbance observers; multidegree-of-freedom manipulator; reaction torque; robust acceleration controller; torque sensorless control; workspace force control; Acceleration; Force control; Force sensors; Manipulator dynamics; Mechanical sensors; Mechanical systems; Motion control; Robust control; Sensorless control; Torque control;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.222648

Filename

222648