Controlling robots in contact with the environment is an important problem in industry
applications. Generally, a force sensor is used for sensing the external force. It is well known …

In the resonance ratio control, which the authors proposed for vibration suppression and
disturbance rejection in a torsional system, the estimation speed of the disturbance observer …

This paper proposes an acceleration-based robust controller for the motion control problem,
ie, position and force control problems, of a novel series elastic actuator (SEA). A variable …

In this paper, a new vibration-suppression control method for 2-and 3-mass system is
proposed, which uses imperfect derivative feedback of the estimated torsional torque. This …

In this paper, we consider the problem of designing a robust controller for a two-inertia
system which contains arbitrarily large (but bounded) model uncertainties and disturbances …

Force/torque control is attracting considerable attention for the realization of compliant
motion in mechatronic systems such as industrial robots and human-support robots. They …

This paper presents a force servoing method to suppress torsional vibration of two-mass
resonant system. The resonance ratio control is one of the effective control methods of two …

Process monitoring technology has been studied in order to realize higher efficiencies and
greater automation of the machining process. The cutting force is widely regarded as being …

Torsion-torque-sensing-based load-side acceleration control is proposed for a two-inertia
resonance system in this paper. This control uses a torsion torque sensor installed in a …

Accurate position-tracking control in a belt-driven servomechanism can experience
vibrations and large tracking errors due to compliance and elasticity introduced by force …