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This paper proposes new system architecture for equipment operation based on the motion recognition using a 3-axis acceleration sensor. The small sensor is attached to the wrist with a band and is worn as a wearable device so as not to disturb body motion. The motion of the arm is detected by the acceleration sensor, and data are transmitted to the PC by Bluetooth signals. It has a wide detection...
Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions,...
Bilateral control systems are strongly required to apply to endoscopic surgeries. It is necessary that the system has enough degrees of freedom for applying various operation procedures including endoscopic surgery. When the degrees of freedom of the system are increased, the amount of control calculation is also increased, and it is hard to keep sampling periods short. The bilateral control systems,...
FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode...
In the field of motion control, robustness is an important issue to accomplish desired motion of robots. To achieve robust motion control, acceleration control has been studied. In the acceleration control, disturbance observer is used to estimate and compensate disturbance force applied to an actuator. In the disturbance observer, the disturbance is estimated with calculating acceleration based on...
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