Force sensing and force control using multirate sampling method

Mariko Mizuochi, Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ1919-1924
ページ数6
DOI
出版ステータスPublished - 2005 12月 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11月 62005 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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