Fine force control without force sensor based on reaction force estimation system considering static friction and kinetic friction

Abstract

This paper proposes a new sensorless force control system based on reaction force estimation system considering static friction and kinetic friction for industrial robot. As industrial robot uses the harmonic gear and the ball screw, the proposed force control system is structured by the resonance ratio control based speed controller. Moreover, as harmonic… (More)
DOI: 10.1109/IECON.2016.7794080

12 Figures and Tables

Topics

  • Presentations referencing similar topics