Force sensing and force control using multirate sampling method

Mariko Mizuochi, Toshiaki Tsuji, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper focuses on a bandwidth and a delay of force sensing. High bandwidth force sensing is important for motion control systems to cope with unknown environments. Reaction torque observer is utilized instead of force sensors to detect external force in this paper. The bandwidth of force sensing is limited by the sampling period and data noise. The delay in force information may deteriorate the performance of force control since force information is fed back. According to these considerations, this paper proposes application of a multirate sampling method to the force control system. Reaction torque observer is modified for the multirate system. The bandwidth of force sensing can be improved and the delay in force information can be decreased with the proposed method. The validity of the proposal is verified by stability analysis, simulation and experimental results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1919-1924
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

Fingerprint

Force control
Sampling
Bandwidth
Torque
Control systems
Motion control
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Mizuochi, M., Tsuji, T., & Ohnishi, K. (2005). Force sensing and force control using multirate sampling method. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 1919-1924). [1569198] https://doi.org/10.1109/IECON.2005.1569198

Force sensing and force control using multirate sampling method. / Mizuochi, Mariko; Tsuji, Toshiaki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 1919-1924 1569198.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mizuochi, M, Tsuji, T & Ohnishi, K 2005, Force sensing and force control using multirate sampling method. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569198, pp. 1919-1924, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569198
Mizuochi M, Tsuji T, Ohnishi K. Force sensing and force control using multirate sampling method. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 1919-1924. 1569198 https://doi.org/10.1109/IECON.2005.1569198
Mizuochi, Mariko ; Tsuji, Toshiaki ; Ohnishi, Kouhei. / Force sensing and force control using multirate sampling method. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 1919-1924
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