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In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
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...
In this paper, an extended internal model control (IMC) scheme for a sensorless force control on an uneven surface is proposed to such kind of surface-polishing, deburring and rubbing machines. The IMC controller scheme has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to force control on uneven surfaces,...
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...
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