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In this paper, we propose an internal model control (IMC) system applied for sensorless force control on surfaces. This method is expected to be used for surface-polishing, deburring and rubbing machines. The IMC based controller has properties of disturbance decoupling, tracking performance and disturbance estimation. The previous paper introduced an IMC scheme for sensorless force control. In this...
A new controller scheme based on the observer based stabilizing controller with a simplified design is proposed in this paper. The proposed controller scheme has position tracking property and disturbance estimation property. By applying these properties to teleoperation control, a master-slave system without force sensors is obtained. The effectiveness of the controller scheme is verified by experiments.
A new controller scheme based on the IMC design structure is proposed in this paper. Due to using an inverse system or an approximate inverse system for the IMC structure, the order of the controller leads the high order, meanwhile the high order controller is not practical in implementation. This paper is concerned with the problem of reducing a high order controller to a reduced order one. The disturbance...
In many industrial factories, usually, grinding, lapping, and polishing machines use force sensors for finishing tasks. In this paper, a modified internal model control (IMC) scheme for a sensorless force control is proposed to such kind of rubbing machines. The IMC has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional...
Control applications to life science are significant for the development interacting with humans. Assistive devices for rehabilitation technology will be used by elderly or disabled people in order to support more life independence. For the interaction with humans, safety and reliability conditions have to be fulfilled, and control design methods for assistive devices have to be robust against parameter...
Control applications to life science are significant for the development interacting with humans. Assistive devices for rehabilitation technology will be used by elderly or disabled people in order to support more life independence. For the interaction with humans, safety and reliability conditions have to be fulfilled, and control design methods for assistive devices have to be robust against parameter...
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