Robust force control based on estimation of environment

Komada, Satoshi; Nomura, K.; Ishida, M.; Ohnishi, Kouhei; Hori, T.

doi:10.1109/robot.1992.220160

Cited by 10 publications

(10 citation statements)

References 6 publications

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“…Since the linear system is influenced by the product of the sen sitivity function (1 -G(s») and Fd., which appears in (8), the influence of the disturbance becomes small by determining G(s) to cover the frequency range of the disturbance in the case that the frequency range of the disturbance is known. If the frequency range of the disturbance is unknown, robust system to wide fre quency range disturbance is realized by using large cut-off fre quency G(s).…”

Section: Realization Of Robust Control Systemmentioning

confidence: 99%

“…It can be controlled by the disturbance-compensated system shown in Fig.3 whose char acteristics is expressed by (8) and illustrated in Fig.4. This fi gure shows that the second derivative of force S2 F can be controlled by F"f because the system is fixed to the nominal system K.n/Mn if we choose high cut-off-frequency G(s), i.e.…”

Section: Realization Of Robust Control Systemmentioning

confidence: 99%

“…The proposed strategy is combination of the dis turbance observer which estimates the disturbance and the pa rameter variations of the actuator, and the environment observer which estimates the parameter variations of the environment. We have also proposed another robust strategy which is based on force-based disturbance observer which has the similar function to the former two observers [7] [8].…”

Section: Introductionmentioning

confidence: 99%

“…We have also proposed a force control strategy using controller of the second derivative of force [7] [8][1O]. It is different from conventional force controllers [1][4] [6], because it is based on the second derivative of force.…”

Section: Introductionmentioning

confidence: 99%

“…Adaptive Force Control Strategy Fig.1 is a proposed adaptive robust force control strategy which is a combination of a force-based disturbance observer and a stiffness identifi er. The force-based disturbance observer[7J [8] estimates the actuator and environment disturbance } d .. from the command to the actuator and the force response. The influence of the dis turbance is compens<>ted by the feedback of the estimated dis turbance.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Adaptive robust force control by disturbance observer

Komada

Nomura

Ishida

et al.

Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation

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This paper proposes a robust force control which adapts to wide parameter variations. A robust force control by disturbance ob server has been proposed successfully. The control system, how ever, becomes unstable if the parameter var iations of manipula tor and environment related to the force control is too large. We propose an environmental stiffness identification to adjust the pa rameters of the force controller and the disturbance observer. Ow ing to the parameter's adjustment, the robust strategy using the disturbance observer becomes fairly stable to the wide stiffness variation. IntroductionForce control has been developed for robots performing contact tasks [1]. During the contact, force response is influ enced by various disturbances to actuator such as gravity force, friction force, and reactive force from outside, and by variations of actuator parameters such as mass and viscosity. Moreover, it is also influenced by parameter variations of environment on which the force is imposed such as mass, viscosity, and stiffness [2]. To obtain accurate force response, the disturbance and the parameter variations of both robot and environment should be compensated.The disturbance and the parameter variations of actua tor have been successfully compensated by using the dist urbance observer. It was applied in control of a direct drive motor and a robot manipulator which is a highly nonlinear control object; and was proved to be valid and useful [3][4][5] [6]. The distur bance observer is of simple design and its application results in the realization of robust control system.The robust force control, however, can not be realized by the conventional disturbance observer, because condition of en vironment on which the force is imposed influences the force re sponse. In order to realize the robust force control, the change of the environment should also be considered. To compensate the parameter variations of environment, we have developed a new observer which estimates the disturbance due to the pa rameter variations of environment, and is termed environment observer[7][8J. The proposed strategy is combination of the dis turbance observer which estimates the disturbance and the pa rameter variations of the actuator, and the environment observer which estimates the parameter variations of the environment. We have also proposed another robust strategy which is based on force-based disturbance observer which has the similar function to the former two observers [7][8].0-7803-0582-5 ,'12$3.00©1992 IEEE Since the control system is fixed to a nominal system by the observers, second derivative of force can be controlled, and quick force response can be obtained. We have also proposed a force control strategy using controller of the second derivative of force[7][8][1O]. It is different from conventional force controllers [1][4][6], because it is based on the second derivative of force.In this paper, we improve the dynamic performance of the robust force control using the disturbance observer. Since wide stiffness change cau...

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Section: Realization Of Robust Control Systemmentioning

confidence: 99%

Section: Realization Of Robust Control Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive robust force control by disturbance observer

Komada

Nomura

Ishida

et al.

Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation

Self Cite

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show abstract

Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via h∞ control theory

Ahn

Lee

Yang

2003

KSME International Journal

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Adaptive model-based hybrid control of geometrically constrained robot arms

Whitcomb

Arimoto

Naniwa

et al. 1997

IEEE Trans. Robot. Automat.

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This paper reports comparative experiments with a new model-based adaptive force control algorithm for robot arms. This controller provides simultaneous position and force trajectory tracking of a robot arm whose tool tip is in point contact with a smooth rigid surface. The algorithm is provably stable with respect to the commonly accepted rigid-body nonlinear dynamical model for robot arms. Comparative experiments show the new adaptive model-based controller to provide performance superior to that of both nonmodel-based controllers and nonadaptive controllers over a wide range of operating conditions.

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Robust force control based on estimation of environment

Cited by 10 publications

References 6 publications

Adaptive robust force control by disturbance observer

Adaptive robust force control by disturbance observer

Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via h∞ control theory

Adaptive model-based hybrid control of geometrically constrained robot arms

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