2010年
FPGA-based Wideband Force Sensing with Kalman-Filter-Based Disturbance Observer
IECON 2010 - 36TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY
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- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- 出版者・発行元
- IEEE
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 achieve the high sampling rate, the control algorithm together with the force estimation function is implemented in a field programmable gate array (FPGA). The wide bandwidth of force sensing is obtained owing to the shortened sampling period by FPGA and the noise suppression by Kalman-filter. The experimental results show the viability of the proposed method.
- リンク情報
- ID情報
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- ISSN : 1553-572X
- Web of Science ID : WOS:000300146000046