An Application of Motion-Copying System Using FPGA based Friction-Free Disturbance Observer

カテゴリ: 研究会(論文単位)

論文No: IIC13138

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2013/03/08

タイトル(英語): An Application of Motion-Copying System Using FPGA based Friction-Free Disturbance Observer

著者名: Ｔｒａｎ Ｐｈｕｏｎｇ Ｔｈａｏ (長岡技術科学大学),横倉 勇希(長岡技術科学大学),大石 潔(長岡技術科学大学)

著者名(英語): Tran Phuong Thao (Nagaoka University of Technology),Yokokura Yuki(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology)

キーワード: ｍｏｔｉｏｎ　ｃｏｐｙｉｎｇ|ｄｉｓｔｕｒｂａｎｃｅ　ｏｂｓｅｒｖｅｒ|ＦＰＧＡ|ｆｒｉｃｔｉｏｎ　ｃｏｍｐｅｎｓａｔｉｏｎ|motion copying|disturbance observer|FPGA|friction compensation

要約(日本語): A motion-copying system is characterized by preservation and reproduction of human-operator’s motion. The accuracy of motion regeneration is affected by friction. To improve the performance of motion-copying system, we propose a method of combining a dither signal and a high-order disturbance observer in both motion-saving and motion-loading systems. The dither signal reduces the friction effect on force estimation and the high-order disturbance observer suppresses the oscillatory signal on force estimation. All control algorithms are implemented in FPGA to achieve short sampling period in order to reduce controller’s execution time. The effectiveness of the proposed method is verified by experimental results.

要約(英語): A motion-copying system is characterized by preservation and reproduction of human-operator’s motion. The accuracy of motion regeneration is affected by friction. To improve the performance of motion-copying system, we propose a method of combining a dither signal and a high-order disturbance observer in both motion-saving and motion-loading systems. The dither signal reduces the friction effect on force estimation and the high-order disturbance observer suppresses the oscillatory signal on force estimation. All control algorithms are implemented in FPGA to achieve short sampling period in order to reduce controller’s execution time. The effectiveness of the proposed method is verified by experimental results.

原稿種別: 日本語

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