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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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