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
相关论文
共 50 条
  • [21] Adaptive Trajectory Control Design for Bilateral Robotic Arm with Enforced Sensorless and Acceleration based Force Control Technique
    Mansor, Nuratiqa Natrah
    Jamaluddin, Muhammad Herman
    Shukor, Ahmad Zaki
    [J]. INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2021, 12 (12) : 415 - 424
  • [22] Vision-Based Assistance for Myoelectric Hand Control
    He, Yunan
    Kubozono, Ryusuke
    Fukuda, Osamu
    Yamaguchi, Nobuhiko
    Okumura, Hiroshi
    [J]. IEEE ACCESS, 2020, 8 : 201956 - 201965
  • [23] Bimodal Control of a Vision-Based Myoelectric Hand
    Fukuda, Osamu
    Sakaguchi, Daisuke
    He, Yunan
    Yamaguchi, Nobuhiko
    Okumura, Hiroshi
    [J]. IEEE ACCESS, 2021, 9 : 98369 - 98380
  • [24] Model-Free Control of Finger Dynamics in Prosthetic Hand Myoelectric-based Control Systems
    Precup, Radu-Emil
    Roman, Raul-Cristian
    Teban, Teodor-Adrian
    Albu, Adriana
    Petriu, Emil M.
    Pozna, Claudiu
    [J]. STUDIES IN INFORMATICS AND CONTROL, 2020, 29 (04): : 399 - 410
  • [25] Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications
    Megalingam, Rajesh Kannan
    Bandhyopadhyay, Shiva
    Vivek, Gedela Vamsy
    Rahi, Muhammad Juned
    [J]. INTERNATIONAL CONFERENCE ON MATERIALS, ALLOYS AND EXPERIMENTAL MECHANICS (ICMAEM-2017), 2017, 225
  • [26] Wireless Control of Robotic Artificial Hand Using Myoelectric Signal Based on Wideband Human Body Communication
    Ando, Hidenao
    Murase, Yusuke
    Anzai, Daisuke
    Wang, Jianqing
    [J]. IEEE ACCESS, 2019, 7 : 10254 - 10262
  • [27] Voltage Sensorless Control of a Three-Phase Standalone Inverter Based on Internal Model Control
    Yazdani, Sara
    Ferdowsi, Mehdi
    [J]. 2018 IEEE ENERGY CONVERSION CONGRESS AND EXPOSITION (ECCE), 2018, : 1478 - 1482
  • [28] Force Control Technologies For New Robotic Applications
    Wang, Jianjun
    Zhang, George
    Zhang, Hui
    Fuhlbrigge, Thomas
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS, 2008, : 143 - 149
  • [29] A Biomechanical Model for the Development of Myoelectric Hand Prosthesis Control Systems
    Peerdeman, Bart
    Boere, Daphne
    Kallenberg, Laura
    Stramigioli, Stefano
    Misra, Sarthak
    [J]. 2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2010, : 519 - 523
  • [30] A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
    Zhang, Shaolin
    Wang, Shuo
    Jing, Fengshui
    Tan, Min
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2019, 15 (09) : 5204 - 5213
12345