利用基于IMC的控制器对电刷压力进行估计和控制

2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT) Pub Date : 2013-12-16 DOI:10.1109/ICAT.2013.6684039

R. Suzuki, Kuzuhara Suguru, N. Fujiki, H. Kawai, N. Kobayashi, E. Hofer

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引用次数: 0

摘要

在本文中，我们提出了一种书写机器人的控制方法，用于再现无力传感器的笔刷压力和轨迹。本研究的主要目的是利用内模控制来估计和保存电刷压力。为了对所提出的控制器进行评价，研制了实验装置。实验结果表明，所设计的控制器能够在平面和斜面上再现电刷压力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Estimation and control of brush pressure by using IMC based controller

In this paper, we propose the control method of a writing robot for reproducing brush pressure and trajectory without force sensors. The main goal of this research is to estimate and save the brush pressure by using the internal model control. In order to evaluate the proposed controllers, the experimental device is developed. The paper shows that the proposed controller is able to reproduce the brush pressure on flat and inclined surface through experiments.

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2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)

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