{"product_id":"ieej-mec13138","title":"An Application of Motion-Copying System Using FPGA based Friction-Free Disturbance Observer","description":"\u003cp\u003e\u003cstrong\u003eカテゴリ: \u003c\/strong\u003e研究会(論文単位)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e論文No: \u003c\/strong\u003eMEC13138\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名: \u003c\/strong\u003e【D】産業応用部門 メカトロニクス制御研究会\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日: \u003c\/strong\u003e2013\/03\/08\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語): \u003c\/strong\u003eAn Application of Motion-Copying System Using FPGA based Friction-Free Disturbance Observer\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名: \u003c\/strong\u003eＴｒａｎ 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)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語): \u003c\/strong\u003eTran Phuong Thao (Nagaoka University of Technology),Yokokura Yuki(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード: \u003c\/strong\u003eｍｏｔｉｏｎ　ｃｏｐｙｉｎｇ|ｄｉｓｔｕｒｂａｎｃｅ　ｏｂｓｅｒｖｅｒ|ＦＰＧＡ|ｆｒｉｃｔｉｏｎ　ｃｏｍｐｅｎｓａｔｉｏｎ|motion copying|disturbance observer|FPGA|friction compensation\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語): \u003c\/strong\u003eA 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.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語): \u003c\/strong\u003eA 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.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e原稿種別: \u003c\/strong\u003e日本語\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003ePDFファイルサイズ: \u003c\/strong\u003e2,095 Kバイト\u003c\/p\u003e","brand":"IEEJ-PDF","offers":[{"title":"PDFダウンロード（一般価格330円\/会員価格220円） \/ A4 \/ 6","offer_id":46385013653743,"sku":"IEEJ-MEC13138-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-PDF_75e652da-e549-46e5-9152-022ed2f355ba.png?v=1744332157","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-mec13138","provider":"電気学会 電子図書館","version":"1.0","type":"link"}