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Study on sensorless force control based on disturbance observer with friction force compensation

TitleStudy on sensorless force control based on disturbance observer with friction force compensation
Publication TypeConference Proceedings
Year of Publication2556
Authorsพัฒนา อินทนิ
Conference Name2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)
Pagination593-598
Date PublishedJanuary 2014
PublisherIEEE
Conference LocationGwangju, South Korea
ISBN Number978-89-93215-05-2
Accession Number14025356
KeywordsAcceleration control, Disturbance observer, Force bandwidth, Force control, Force sensor, Haptics, motion control
Abstract

This paper explained the disturbance observer, the system which is different from the force sensor control, because the disturbance observer force control can observe the external torque without force sensors. If the system has the rigid mass or soft mass, concerning the environment, the disturbance observer can control and work well however when using disturbance observer in the system, it will also use the low-pass filter because the feedback following the amplitude rang was setting. when the system has friction force has to be improved by friction force compensation, this estimated method is called a reaction torque observer. Thus, the disturbance observer is a solution of the problem which happen by force sensor. For example, disturbance torque, can be applied as quickly as possible for the another systems.

URLhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6703937
DOI10.1109/ICCAS.2013.6703937