Abstract
This paper focuses on the realization of high-performance motion control based on acceleration control. The characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. This paper then describes that a higher sampling frequency is required for acquisition of output information than for updating the input value. Based on this idea, a new multirate sampling method for an acceleration control system is proposed. A disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of a system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results.
| Original language | English |
|---|---|
| Pages (from-to) | 72-81 |
| Number of pages | 10 |
| Journal | Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) |
| Volume | 162 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2008 Mar 1 |
Keywords
- Acceleration control
- Bilateral control
- Disturbance observer
- Multirate sampling
- Real-time robotics
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering