Position and Force Control of the SCARA Robot based on Disturbance Observer

被引：10

作者：

Surapong, Niphun ^{[1
]}

Mitsantisuk, Chowarit ^{[1
]}

机构：

[1] Kasetsart Univ, Fac Engn, Dept Elect Engn, Bangkok, Thailand

来源：

2016 INTERNATIONAL ELECTRICAL ENGINEERING CONGRESS, IEECON2016 | 2016年

关键词：

Disturbance Observer; Force sensor; SCARA robot;

D O I：

10.1016/j.procs.2016.05.029

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：

Mostly force sensor, used to measure external force, is equipped at the end effector. However force sensor is expensive and capable to measure only external force around the area that force sensor is attached. Therefore, the action could not be found outside the end effector. As a result, to improve the performance, disturbance observer (DOB), designed to control the position and force, is used to estimate external force instead of force sensor. In this paper, SCARA robot is used to draw the parabola on the board with a pen at end effector. From the results show effective position control of the SCARA robot and force control without using of force sensor as the robot is drawing. (C) 2016 Published by Elsevier B.V.

引用

页码：116 / 119

页数：4

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