反作用力推定オブザーバに基づいた多自由度ロボットの力センサレスコンプライアンス制御

抄録

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.