How to design force sensorless power assist robot considering environmental characteristics - Position control based or force control based

IECON Proceedings (Industrial Electronics Conference)

Volumn 3, Issue , 2002, Pages 2255-2260

  Seki, Hirokazu ^a   Iso, Masahito ^b   Hori, Yoichi ^a  

^a UNIVERSITY OF TOKYO   (Japan)

^b PANASONIC CORPORATION   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE SENSORLESS POWER ASSIST ROBOT; POWER ASSIST MOTIONS;

CONTROL SYSTEM SYNTHESIS; FORCE CONTROL; MOTION CONTROL; OBSERVABILITY; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS);

ROBOTS;

EID: 0036957929     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2002.1185323     Document Type: Conference Paper

References (6)

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4. K. Nagai, I. Nakanishi, H. Hanafusa, S. Kawamura, M. Makikawa and N. Tejima: "Development of an 8 DOF robotic orthosis for assisting human upper limb motion", Proc. of IEEE International Conference on Robotics and Automation, pp. 3486-3491 (1998).
5. K. Ohishi, M. Miyazaki, M. Fujita: "Hybrid control of force and position without force sensor", Proc. IEEE IECON'91, pp.670-675 (1992).
6. T. Umeno, T. Kaneko and Y. Hori: "Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators", IEEE Trans. on Industrial electronics, Vol. 40, No. 5, pp.473-485 (1993).