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In controlling ball-screw driven stages of machine tools, industrial robots, and welfare robots, they are modelled as two-inertia systems to consider their transmission characteristics such as low rigidity and nonlinearity. To obtain precise position at the load side, the number of devices with load-side encoders is increasing. The precise joint torque control method and the load-side torque control...
This paper describes a filtering method for state estimation using the fusion of large-time-delay and non-delay measurements. To overcome the difficulty in covariance computation and keep the affordable computational cost, the norm-bound scheme is applied to obtain the estimation gain. The effectiveness of the proposed algorithm is verified through experiment with a visual servo system.
This paper describes a Kalman filter for a class of linear system in which: 1) The sampling time of measurement is longer than the control period. 2) The measurement is delayed. Using the delayed measurement and the present and past time predicted state, the pseudo-measurement in present time is constructed. The optimal Kalman gain is designed to minimize the trace of the covariance of estimation...
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