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High‐Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation
Author(s) -
MAEBASHI WATARU,
ITO KAZUAKI,
MATSUO KOHEI,
IWASAKI MAKOTO
Publication year - 2016
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22791
Subject(s) - control theory (sociology) , controller (irrigation) , nonlinear system , contact force , sliding mode control , mechanism (biology) , control engineering , mode (computer interface) , computer science , control (management) , engineering , physics , quantum mechanics , artificial intelligence , agronomy , biology , operating system
SUMMARY 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.