Motion-Copying System Using FPGA-based Friction-Free Disturbance Observer

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/05/01

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

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

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

キーワード: motion-copying system，real-world haptics，disturbance observer，FPGA-based controller

要約(英語): A motion-copying system is characterized by its ability to preserve and reproduce the motions of a human operator. The performance of a motion-copying system based on bilateral control is affected by friction and harmonic disturbances. To improve the performance of this system, we propose a friction-free disturbance observer with a dither signal for both motion-saving and motion-loading systems. The dither signal reduces the effect of friction, while the friction-free disturbance observer suppresses oscillatory disturbances in force estimation. Moreover, the friction-free disturbance observer achieves effective harmonic disturbance suppression in force estimation. All control algorithms are implemented in a field-programmable gate array to achieve a short sampling period that reduces the controller execution time and enables a wider force-sensing bandwidth. The effectiveness of the proposed method is verified by experimental results.

本誌: IEEJ Journal of Industry Applications Vol.3 No.3 （2014）

本誌掲載ページ: 248-259 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/3/3_248/_article/-char/ja/