Hybrid Position and Force Control Without Force Sensor
Kiyoshi Ohishi*, Masaru Miyazaki** and Masahiro Fujita**
* Nagaoka University of Technology, 1603-1 Kamitomioka-cho, Nagaoka, Niigata, 940-21 Japan
** Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka, 535 Japan
Generally, hybrid control is realized by sensor signal feedback of position and force. However, some robot manipulators do not have a force sensor due to the environment. Moreover, a precise force sensor is very expensive. In order to overcome these problems, we propose the estimation system of reaction force without using a force sensor. This system consists of the torque observer and the inverse dynamics calculation. Using both this force estimation system and H∞ acceleration controller which is based on H∞ control theory, it takes into account the frequency characteristics of both sensor noise effect and disturbance rejection. The experimental results in this paper illustrate the fine hybrid control of the three tested degrees-of-freedom DD robot manipulator without force sensor.