High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation

作者：Maebashi Wataru^*; Ito Kazuaki; Matsuo Kohei; Iwasaki Makoto

来源：Electrical Engineering in Japan, 2016, 195(3): 47-57.

DOI：10.1002/eej.22791

• positioning control
• force control
• sensorless control
• nonlinear spring
• contact operation
• sliding mode control

This paper presents an approach to high-precision sensorless force control for positioning devices that engage in a contact operation. The sensorless force control is designed with a sliding mode controller and contact model that provide the required control specifications to compensate for the nonlinear spring characteristics of the contact mechanism. The effectiveness of the proposed control approach was verified through numerical simulations and experiments using a prototype.

• 出版日期2016-5