High Performance of Force Control based on Kalman Filter-Disturbance Observer Utilizing FPGA

カテゴリ: 研究会(論文単位)

論文No: IIC10127

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2010/03/09

タイトル(英語): High Performance of Force Control based on Kalman Filter-Disturbance Observer Utilizing FPGA

著者名: Tran Thao Phuong (Nagaoka University of Technology),Mitsantisuk Chowarit(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology),Urushihara Shiro(Nagaoka University of Technology)

著者名(英語): Tran Thao Phuong (Nagaoka University of Technology),Mitsantisuk Chowarit(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology),Urushihara Shiro(Nagaoka University of Technology)

キーワード: force control|disturbance observer|Kalman filter|FPGA

要約(日本語): The high performance of force control can be achieved by enlarging the bandwidth of force sensing. This paper presents a combination of Kalman filter and Disturbance observer using a field programmable gate array (FPGA). Force sensing function implemented by FPGA can attain high performance on both time resolution and bandwidth. Additionally, Kalman filter is used to reduce the effects of the noise.

要約(英語): The high performance of force control can be achieved by enlarging the bandwidth of force sensing. This paper presents a combination of Kalman filter and Disturbance observer using a field programmable gate array (FPGA). Force sensing function implemented by FPGA can attain high performance on both time resolution and bandwidth. Additionally, Kalman filter is used to reduce the effects of the noise.

原稿種別: 日本語

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