High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation

摘要

This paper presents an approach to high-precision sensorless force control for positioning devices that engage in a contact operation. The sensorless force control is designed with a sliding mode controller and contact model that provide the required control specifications to compensate for the nonlinear spring characteristics of the contact mechanism. The effectiveness of the proposed control approach was verified through numerical simulations and experiments using a prototype. (C). 2016 Wiley Periodicals, Inc. Published online in Wiley Online Library (wileyonlinelibrary.com).