Estimation and control of brush pressure by using IMC based controller

被引：0

作者：

Suzuki, Ryoichi ^{[1
]}

Suguru, Kuzuhara ^{[1
]}

Fujiki, Nobuaki ^{[1
]}

Kawai, Hiroyuki ^{[1
]}

Kobayashi, Nobuaki ^{[1
]}

Hofer, Eberhard. P. ^{[1
]}

机构：

[1] Kanazawa Inst Technol, Dept Robot, Nonoichi, Ishikawa 9218501, Japan

来源：

2013 XXIV INTERNATIONAL SYMPOSIUM ON INFORMATION, COMMUNICATION AND AUTOMATION TECHNOLOGIES (ICAT) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：6

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