A sensorless bilateral robot manipulator based on twin drive system

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

Volumn 67, Issue 11, 2001, Pages 1834-1838

  Hayashida, Nobuhiro ^a   Yakoh, Takahiro ^a   Murakami, Toshiyuki ^a   Ohnishi, Kouhei ^a  

^a NONE

Author keywords

Bilateral robot; Friction free; Reaction torque observer; Twin drive system; Virtual motors

Indexed keywords

EID: 0012110670     PISSN: 09120289     EISSN: None     Source Type: Journal    
DOI: 10.2493/jjspe.67.1834     Document Type: Article

References (5)

1. K. Shibata, et al.,: Torque Sensorless Control of Twin Drive System by Virtual Motor Model, International Conference on Motion and Vibration Control(MOVIC), Vol.2, pp.669-674,(1994)
2. Fangming Yu, et al.,: Sensorless Force Control of Direct Drive Manipulator, IEEE. International Symposium on Industrial Electronics, Vol.1, pp.311-315,(1992)
3. T. Murakami, et al.,: Force Sensorless Complinat Control Based on Raction Force Estimation Observer in Multi-Degrees-of-Freedom Robot, Journal of the Robotics Society of Japan, Vol.11, No.5, pp765-768,(1993)
4. N. Hayashida, et al.,: A Sensorless Force Control in Twin Drive System, 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation(IECON),pp2231-2236,(2000)