High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation

Abstract

This paper presents a high-precision sensorless force control for positioning devices with contact operation. The sensorless force control is designed with a sliding mode controller and contact model that provide the required control specifications to compensate for the non-linear spring characteristics of the contact mechanism. The effectiveness of the proposed control approach was verified through numerical simulations and experiments using a prototype.