著者

村上 俊之 中村 亮 郁 方銘 大西 公平

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.11, no.5, pp.765-768, 1993-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

21 68

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The paper describes a force sensorless control in multi-degrees-of-fredom robot. In the active com-pliant control, force sensor is attached to the robot to detect the reaction force. However it makes a structure of the robot system complicated. To improve this problem, we propose the force sensorless control strategy based on disturbance observer.First, a basic structure of the dusturbance observer is shown. Then the calculation process of the reaction force is also introduced. Second, the force sensorless compliant controller is constructed. The experimental results are also shown to confirm the validity of the proposed method.