Disturbance without the force
نویسندگان
چکیده
منابع مشابه
Disturbance Observer Based Force Control of Robot Manipulator without Force Sensor
In this paper, a force estimation method is proposed for force control without force sensor. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance obser...
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This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force distur...
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ژورنال
عنوان ژورنال: Nature
سال: 2008
ISSN: 0028-0836,1476-4687
DOI: 10.1038/452298a