一次外乱オブザーバを用いた産業用ロボットの接触動作に関する一手法

嶋田 直樹; 吉岡 崇; 大石 潔; 宮崎 敏昌

doi:10.11511/jacc.54.0.110.0

THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 1I104

DOI https://doi.org/10.11511/jacc.54.0.110.0

Conference information

Host: The Society of Instrument and Control Engineers, The Japan Society of Mechanical Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Toyohashi University of Technology, Technically Cosponsored by 51 Societies and Institutes

Motion Control using Disturbance Observer (1)

A controlMotion Control of Industrial Robot Using First-order Disturbance Observer

*Naoki Shimada, Takashi Yoshioka, Kiyoshi Ohishi, Toshimasa Miyazaki

Author information

Keywords: First-order disturbance observer, Sensorless force control, Industrial robot

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

This paper proposes a high-speed and high-availability contact motion control method. In the proposed method, first-order disturbance observer estimates external torque at each joints. Moreover, the jerk signal achieves rapid sensing for contact phenomenon. Validity of the proposed method is confirmed by simulation study. The simulation uses real parameters identified to the three degrees of freedom robot.

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