Robust Force Control of Pneumatic Manipulator

공압 매니퓰레이터의 강인 힘제어

  • 박정규 (LG전자(주) 생산기술센터 기술개발 연구소) ;
  • 노리츠구토시로 (일본 오카야마국립대학교 공학부 기계공학과)
  • Published : 1996.02.01


In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.


Robust Control;Disturbance Observer;Force Control;Pneumatic Manipulator;Inner Torque Control


  1. 油壓と空壓 v.21 no.4 空氣壓サ-ボ系の制御性能評價とその特徵 則次俊郞;和田力
  2. 日本ロボット學會誌 v.11 no.2 空氣壓ロボットのコンプラインスとその制御 則次俊郞:垣一志;堂田周治郞
  3. Proceedings of the 1992 IEEE International Conference on Robotics and Automaton Robust Force Control Based on Estimation of Environment Kormada, S.;Nomura, K.;Ishida, M.;Ohnishi, K.;Hori, T.
  4. International Journal of Control v.49 no.3 Necessary and Sufficient Conditions for Robust Stabilization of Perturbed Observer Based Compensating Systems Chen, B. S.;Lo, C. H.
  5. 計測自動制御學會論文集 v.26 no.3 スライディングモ-ド制御法を用いた空氣壓驅動ロボットの位置と力のハイブリット制御 則次俊郞;和田力;田寺孝光
  6. 第71期日本機械學會全國大會講演論文集 v.F 外難ォブ-ザバを用いた空氣壓ロボットの軌道制御 朴晸圭;則次俊郞
  7. 日本ロボット學會誌 v.11 no.2 ロボットマニピュレータにおける力制御のロバスト化と衝突過程の制御 志村康治;堀佯一
  8. 日本ロボット學會誌 v.12 no.4 外難ォブ-ザバを用いた空氣壓ロボットの制御性能向上 則次俊郞;朴晸圭
  9. ロボティクス·メヵトロニクス講演會 '94 論文集 v.B 壓力情報た基づく空氣壓マニピュレ-タの力制御 朴晸圭;則次俊郞
  10. International Journal of Control v.35 no.2 Necessary and Sufficient for Robust Stability of Linear Distributed Feedback System Chen, M. J.;Desoer, C. A.
  11. Proceedings of the IFToMM-jc International Symposium on Theory of Machines and Mechanisms v.1 Position Control of Pneumatic Robot Arms Using Disturbance Observer Noritsugu, T.;Park, J. G.
  12. 日本電氣學會論文集 v.113-D no.4 作業環境のパラメ-タ推定づ基いた多自由度ピュレタの力制御 村上俊之;大西公平
  13. Journal of Robotics Systems v.4 no.4 Adaptive Force and Position Control of Manipulators Seraji, H.