Application of Internal Model Control to Sensorless Force Control on Surfaces

被引：0
|
作者：
Suzuki, Ryoichi [1 ]
Yoshita, Tetsuro [1 ]
Steurer, Bjoern [1 ]
Kobayashi, Nobuaki [1 ]
机构：
[1] Kanazawa Inst Technol, Dept Robot, Kanazawa, Ishikawa 9218501, Japan
来源：
IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS | 2008年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose an internal model control (IMC) system applied for sensorless force control on surfaces. This method is expected to be used for surface-polishing, deburring and rubbing machines. The IMC based controller has properties of disturbance decoupling, tracking performance and disturbance estimation. The previous paper introduced an IMC scheme for sensorless force control. In this paper, we present an extended IMC system and discuss the stability of its closed-loop system. Also, we verify the effectiveness of this system through experiments.
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收藏
页码：49 / 54
页数：6
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