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This paper proposes a force sensing method with periodic component extraction based on Kalman filter algorithm. In a ball-screw system exhibiting high friction, a dither is inserted to the desired reference signal to eliminate the effect of friction. The force estimation by a disturbance observer is integrated with the force estimation by Kalman filter to construct the force sensation with effective...
This paper proposes a robust position control based on state feedback using double disturbance observer for two mass system. In load-side position control based on state feedback using disturbance observer, performance of control system is depend on bandwidth of disturbance observer. To solve problem, the load-side position control using I2-PI controller based on state feedback is proposed. The proposed...
Rapid and accurate motion control of industrial robots has a vital demand on the precise load torque estimation. To achieve highly robust motion control against dynamic torque, our previous research had introduced the Kalman-filter based instantaneous state observer (ISOB) to attain the instantaneous load torque estimation of a robot arm. This paper proposes the load torque estimation by ISOB based...
To enhance the productivity and quality, high speed and high precision industrial robots are required. In the highspeed motion, the dynamic torque of industrial robot prevents the precise operation. To achieve high speed and high precision operation, the dynamic torque calculation is often used to compensate the dynamic torque. Although, it is difficult to calculate the accurate dynamic torque because...
This paper presents a motion-copying system of different master-slave mechanism in variable speed of motion reproduction. The motion-saving system is performed by bilateral control algorithm to preserve arbitrary motions of human operator to a data memory. The slave actuator is affected by friction; hence, a friction-free disturbance observer is employed for force estimation on the slave side. The...
In this paper, a novel force-sensing method is proposed for a high-performance force control system based on friction-free and noise-free force observation. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer (DOB) (HDOB) and a Kalman filter is constructed to perform the force sensing. The HDOB is designed to estimate the...
Force sensing is an important part of a motion-copying system. To achieve the high performance of the control system, high quality of force sensing is required. This paper focuses on suppressing harmonic disturbances in the force estimation to improve the performance of force sensing. A friction-free disturbance observer with a dither signal is applied for both motion-saving and motion-loading systems...
This paper presents a new force sensing approach for a bilateral control system with different mechanisms of the master and the slave devices. A linear shaft motor and a ball screw perform the roles of the master and the slave, respectively. Using a frictionless mechanism as the master while the slave mechanism is affected by high friction, together with an appropriate force scaling ratio between...
In this work, we present a bilateral control system with different mechanisms of master and slave sides. A linear shaft motor and a ball screw perform the roles of the master and slave, respectively. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signal is inserted into the control signal of the slave side. The addition of periodic signal causes oscillatory...
In this paper, a new force sensing technique is proposed to achieve a friction free and wideband force control of a ball screw system. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer and a Kalman-filter is constructed to perform the force sensing operation. The high-order disturbance observer is designed to obtain force...
Disturbance rejection has been one of foremost issues in control engineering for the past several decades. Disturbance observer is an effective technique to diminish the adverse effects of disturbances. However, in practical applications, there are cases in which the estimated disturbance is affected by vibration phenomenon or additional oscillatory disturbance which is not addressed by the conventional...
Sensorless force sensation by disturbance observer has been widely employed in numerous applications due to its superiority to the measurement by a force sensor. This paper introduces the development of the disturbance observer to obtain the high performance force sensing with a wideband force sensation. In this paper, a multi-sensor data fusion by Kalman-filter algorithm is exploited for velocity...
Haptic technology has been attracting widespread attention in the fields of robotics and medicine. The bandwidth of force sensing is vital to reproduce the vivid force sensation. This paper proposes a method to enlarge the bandwidth of force sensing. In this paper, the force sensing operation is constructed by a combination of a Kalman-filter and a disturbance observer for multi-sensor. In order to...
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