Friction free and noise free force observation based on an integration of high-order disturbance observer with Kalman-filter

カテゴリ: 研究会(論文単位)

論文No: IIC12149

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2012/03/07

タイトル(英語): Friction free and noise free force observation based on an integration of high-order disturbance observer with Kalman-filter

著者名: Tran Phuong Thao (Nagaoka University of Technology),Furusawa Ryo(Nagaoka University of Technology),Nandayapa Manuel(Nagaoka University of Technology),Mitsantisuk Chowarit(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology)

著者名(英語): Tran Phuong Thao (Nagaoka University of Technology),Furusawa Ryo(Nagaoka University of Technology),Nandayapa Manuel(Nagaoka University of Technology),Mitsantisuk Chowarit(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology)

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

要約(日本語): This paper proposes a novel force sensing method for friction free and noise free forceobservation to improve the force control performance. The effect of friction on forceobservation is eliminated owing to the addition of a periodic signal into the controlsystem. The force sensing operation is constructed by an integration of high-orderdisturbance observer with Kalman-filter to reject the oscillatory disturbance and suppressthe noise in force estimation. Additionally, the force sensing bandwidth is significantlyimproved due to the effective noise suppression by Kalman-filter. The effectiveness ofthe proposed method is verified by experimental results.

要約(英語): This paper proposes a novel force sensing method for friction free and noise free forceobservation to improve the force control performance. The effect of friction on forceobservation is eliminated owing to the addition of a periodic signal into the controlsystem. The force sensing operation is constructed by an integration of high-orderdisturbance observer with Kalman-filter to reject the oscillatory disturbance and suppressthe noise in force estimation. Additionally, the force sensing bandwidth is significantlyimproved due to the effective noise suppression by Kalman-filter. The effectiveness ofthe proposed method is verified by experimental results.

原稿種別: 日本語

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