High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation
Author:
Affiliation:
1. Nagoya Institute of Technology
2. Toyota National College of Technology
Publisher
Institute of Electrical Engineers of Japan (IEE Japan)
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering
Link
https://www.jstage.jst.go.jp/article/ieejias/134/5/134_535/_pdf
Reference15 articles.
1. (1) Y. Yamasaki, R. Yokogawa, T. Tumugiwa, and K. Hara: “A Study on a Method for Switching Control Mode of Robot Manipulators (1st Report, A proposal of a Method for Switching Control Mode Based on Position and Force Errors)”, Trans. of JSME Series C, Vol. 74, No. 740, pp. 115-123 (2008-4) (in Japanese)
2. (2) A. Shimada and Y. Kishiwada: “Position/Force Sensorless Grasping Control Making Use of Mechanical Spring”, IEEJ Trans. IA, Vol. 125, No. 11, pp. 1060-1065 (2005-11) (in Japanese)
3. (3) T. Kosaki and M. Sano: “Position and Stiffness Control of a Pneumatic Planar Parallel Manipulator Using Pressure and Friction Observers”, Trans. of JSME Series C, Vol. 75, No. 752, pp. 950-957 (2009-4) (in Japanese)
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