Nominal design of Disturbance Observer for Force Control with Vibrating Environment

カテゴリ: 研究会(論文単位)

論文No: IIC18027

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2018/11/30

タイトル(英語): Nominal design of Disturbance Observer for Force Control with Vibrating Environment

著者名: 横山 稔(横浜国立大学),下野 誠通(横浜国立大学)

著者名(英語): Minoru Yokoyama(Yokohama National University),Tomoyuki Shimono(Yokohama National University)

キーワード: Ｐｏｓｉｔｉｏｎ　ｓｅｎｓｏｒ|Ａｃｃｅｌｅｒａｔｉｏｎ　ｓｅｎｓｏｒ|Ｆｏｒｃｅ　ｃｏｎｔｒｏｌ|Ｆｏｒｃｅ　ｆｌｕｃｔｕａｔｉｏｎ　ｓｕｐｐｒｅｓｓｉｏｎ|Position sensor|Acceleration sensor|Force control|Force fluctuation suppression

要約(日本語): For robust motion control, a disturbance observer (DOB) is one of essential techniques. Benefit of using lower nominal mass, however, has not been sufficiently discussed yet. This paper proposes fluctuation suppression of contact force in force control by using lower nominal mass. A position-acceleration integrated disturbance observer (PAIDO) is used to implement the proposed strategy effectively. The proposed system is validated by analyses and simulations.

要約(英語): For robust motion control, a disturbance observer (DOB) is one of essential techniques. Benefit of using lower nominal mass, however, has not been sufficiently discussed yet. This paper proposes fluctuation suppression of contact force in force control by using lower nominal mass. A position-acceleration integrated disturbance observer (PAIDO) is used to implement the proposed strategy effectively. The proposed system is validated by analyses and simulations.

原稿種別: 英語

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