Internal Model Control Based Controller for Sensorless Force Control and Its Applications to Myoelectric Robotic Hand

被引：0
|
作者：
Suzuki, Ryoichi [1 ]
Kobayashi, Hirokazu [1 ]
Kobayashi, Nobuaki [1 ]
机构：
[1] Kanazawa Inst Technol, Dept Robot, 7-1 Nonoichi, Kanazawa, Ishikawa 9218501, Japan
来源：
IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6 | 2009年
关键词：
D O I：
10.1109/IECON.2009.5414760
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative experiments.
引用
收藏
页码：1502 / +
页数：2
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