2011
DOI: 10.1541/ieejias.131.334
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High Performance Force Sensing Based on Kalman-Filter-Based Disturbance Observer Utilizing FPGA

Abstract: Force sensation plays an important role in force control systems. The bandwidth of force sensing is vital to reproduce the vivid force information. Generally, sensor-less force control systems use the position-sensor-based disturbance observer for force estimation. The bandwidth of force sensation as well as the control performance, however, is limited by the noise problems. This paper proposes a method to achieve the high performance force sensing. In the paper, the force estimation operation is performed by … Show more

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Cited by 11 publications
(9 citation statements)
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“…The estimated disturbance torqueT dis is obtained from the motor speed ω m and the motor torque current I m as shown in (4)…”
Section: Disturbance Observer Principlesmentioning
confidence: 99%
See 1 more Smart Citation
“…The estimated disturbance torqueT dis is obtained from the motor speed ω m and the motor torque current I m as shown in (4)…”
Section: Disturbance Observer Principlesmentioning
confidence: 99%
“…The measurement of force in a force control system is of greatest importance since the accuracy of the force measurement affects the performance of the system directly. Wideband force sensing is necessary to achieve a high-performance force control system (4) . To increase patient safety in a tele-robotic surgery system, it is vital to obtain the precise force feedback information to give the surgeon the vivid feeling that he is directly operating with his own hands on the patient body (5) .…”
Section: Introductionmentioning
confidence: 99%
“…For the case where the motor parameter variations are zero, the disturbance force is given by (13). (10) and (11), the disturbance torque is expressed by (14).…”
Section: Disturbance Observer For Force Estimationmentioning
confidence: 99%
“…Originally, equation (14) indicates that the disturbance torque is estimated based on the motor acceleration. The acceleration is estimated based on the position using the second derivative calculation.…”
Section: Disturbance Observer For Force Estimationmentioning
confidence: 99%
See 1 more Smart Citation