Load Torque Control of an Electromagnetic Motor with a Reduction Gear and Motor/Load-side Encoders Using a Spring Model including a Dead Zone
Author:
Affiliation:
1. Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
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/141/9/141_700/_pdf
Reference19 articles.
1. (1) A. Wahrburg, J. Bos, K. D. Listmann, F. Dai, B. Matthias, and H. Ding: “Motor-Current-Based Estimation of Cartesian Contact Forces and Torques for Robotic Manipulators and Its Application to Force Control”, IEEE Transactions on Automation Science and Engineering, Vol. 15, No. 2, pp. 879-886 (2018)
2. (2) T. Yoshioka, A. Yabuki, Y. Yokokura, K. Ohishi, T. Miyazaki, and T. T. Phuong: “Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer”, IEEJ Journal of Industry Applications, Vol. 5, No. 2, pp. 132-140 (2016)
3. (3) Y. Kawai, Y. Yokokura, K. Ohishi, and T. Miyazaki: “High-Robust Force Control for Environmental Stiffness Variation Based on Duality of Two-Inertia System”, IEEE Transactions on Industrial Electronics, Vol. 68, No. 1, pp. 850-860 (2021)
4. (4) N. Shimada, T. Yoshioka, K. Ohishi, and T. Miyazaki: “Fine-Motion-Control Method for Realizing High-Accuracy and High-Speed Contact Motion of Industrial Robots by Employing Sensorless Force Control”, IEEJ Transactions on Industry Applications, Vol. 132, No. 3, pp. 322-332 (2012)
5. (5) M. Ruderman and M. Iwasaki: “Sensorless Torsion Control of Elastic-Joint Robots With Hysteresis and Friction”, IEEE Transactions on Industrial Electronics, Vol. 63, No. 3, pp. 1889-1899 (2016)
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1. Robust Torsion Torque Control using Single Inertialization Compensator for Two-inertia System with Environmental Stiffness;IEEJ Journal of Industry Applications;2022-09-01
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