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• W1489755852 abstract "The authors present a robust force control which adapts to wide parameter variances. The disturbances and the parameter variations of motors and the environment are compensated by the force-based disturbance observer discussed. The force controller is based on the controller of the second derivative of a force. In order to realize stable force control for a wide variation of stiffness, identification control based on the least-squares method is introduced. The parameters of the force controller and the disturbance observer are adjusted according to the identified stiffness. Simulation and experimental results show that the adaptive system works well to stabilize force response. >" @default.
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• W1489755852 date "2003-01-02" @default.
• W1489755852 modified "2023-09-26" @default.
• W1489755852 title "Adaptive robust force control by disturbance observer" @default.
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• W1489755852 doi "https://doi.org/10.1109/iecon.1992.254380" @default.
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