TY - GEN
T1 - Force sensor-less assist control design based on two-degree-of-freedom control
AU - Oh, Sehoon
AU - Koyanagi, Takuya
AU - Hori, Yoichi
PY - 2009
Y1 - 2009
N2 - Motor control to assist human force without a force sensor is designed based on two-degree-of-freedom control theory. First force sensor-less power assist control is designed and its robustness is analyzed. Then it is incorporated with the reference tracking control using the two degree-of-freedom control. The proposed control can design the motion with regarding to the reference and the motion with regarding to the external human force respectively. Non-minimum phase zero Q filter is also adopted as a methodology of force sensor-less power assist control and its effectiveness to reject the static friction force is verified. Experiments are conducted with a ball-screw door system that has a large friction and the effectiveness of the proposed control is validated.
AB - Motor control to assist human force without a force sensor is designed based on two-degree-of-freedom control theory. First force sensor-less power assist control is designed and its robustness is analyzed. Then it is incorporated with the reference tracking control using the two degree-of-freedom control. The proposed control can design the motion with regarding to the reference and the motion with regarding to the external human force respectively. Non-minimum phase zero Q filter is also adopted as a methodology of force sensor-less power assist control and its effectiveness to reject the static friction force is verified. Experiments are conducted with a ball-screw door system that has a large friction and the effectiveness of the proposed control is validated.
KW - Disturbance observer
KW - Force sensor-less impedance control
KW - Force sensor-less power assist control
KW - Human-friendly motion control
KW - Non-minimum phase zero
KW - Q filter
KW - Two degree-of-freedom control
UR - http://www.scopus.com/inward/record.url?scp=77951142625&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951142625
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 1633
EP - 1638
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -