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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 proposes a new wideband bilateral motion-scaling control to apply in the small size robot system. The scaling Hadamard matrix is applied to reduce or magnify the force and position response of bilateral motion-scaling control. The technique to estimate the action/reaction forces of master-slave robot is designed using Kalman-filter based disturbance observer (KFDOB). Optical encoder and...
Among all the sensor fusion approaches, Kalman filter is the most widely used technique for system state estimation. The Kalman filter has many uses, including applications in tracking objects, navigation, economics, computer vision and robot controlling. As an example application, it is suitable method for compensating noise measurements from sensor data input and also for sensor fusion. In this...
A fine mechanical impedance control using low-noise Class-G power amplifiers is realized in this paper. In the case of using typical PWM inverter which is categorized as Class-D amplifier, the force and current noise is caused by the PWM switching operations. As a result, the generated mechanical impedance contains the noise. For that reason, the Class-G power amplifiers is used in this research....
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...
In this paper, Class-G power amplifiers for motion control are developed. General Class-B power amplifier cannot be used for driving high-power actuators because of power efficiency. On the other hand, due to PWM, typical Class-D power amplifier generates switching noise as well as desired current, though the power efficiency is very high. The switching noise cased by PWM inverter degrades the control...
We proposed a TBSN16P6W tellurite/phosphate composite microstructured optical fiber with small dispersion value and high nonlinear coefficient at telecommunication wavelengths to realize efficient and low noise quantum-correlated photon pair generation.
As haptic technology has advanced in the past decade, many sensor devices have been built and commercialized for providing the sense of action/reaction forces or moment feedback to the human operator. In the ideal bilateral control of the haptic system, the force and position control should achieve with the same actions of force and motion movements. An external force should be sensed quickly after...
We have conducted a preliminary study to assess interference caused by a SPS to radio astronomy observations, and show that the SPS that is currently planned is highly unlikely to coexist with radio astronomy observations.
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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