TY - GEN
T1 - Generalized discussion on design of Force-sensor-less Power Assist Control
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2008
Y1 - 2008
N2 - This paper generalizes the structure of Force-Sensor-less Power Assist Control (FSPAC) which is a essential technology to design a feedback controller in a human-friendly way. Based on the analysis of the control structure, this paper clarifies the functions of the generalized force-sensor-less power assist control; particularly the functions of two force observers in FSPAC are made clear. Since the FSPAC consists of a positive feedback control, the robustness of the FSPAC is much weaker than the other power assist control with force sensors. This paper clarifies the trade-off between assistance performance and weak robustness in the FSPAC. Comparing power assist control derived from model following design and the disturbance observer based design, the limitation of assistance performance and methods to adjust the gain are revealed. Finally methodology of design the feedback gain in the FSPAC is discussed.
AB - This paper generalizes the structure of Force-Sensor-less Power Assist Control (FSPAC) which is a essential technology to design a feedback controller in a human-friendly way. Based on the analysis of the control structure, this paper clarifies the functions of the generalized force-sensor-less power assist control; particularly the functions of two force observers in FSPAC are made clear. Since the FSPAC consists of a positive feedback control, the robustness of the FSPAC is much weaker than the other power assist control with force sensors. This paper clarifies the trade-off between assistance performance and weak robustness in the FSPAC. Comparing power assist control derived from model following design and the disturbance observer based design, the limitation of assistance performance and methods to adjust the gain are revealed. Finally methodology of design the feedback gain in the FSPAC is discussed.
UR - http://www.scopus.com/inward/record.url?scp=62949222807&partnerID=8YFLogxK
U2 - 10.1109/AMC.2008.4516116
DO - 10.1109/AMC.2008.4516116
M3 - Conference contribution
AN - SCOPUS:62949222807
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 492
EP - 497
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -