Force sensing and force control using multirate sampling method
Force sensing and force control using multirate sampling method
复制标题
使用多速率采样方法进行力传感和力控制
DOI：
10.1109/iecon.2005.1569198
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
M. Mizuochi;T. Tsuji;K. Ohnishi
本文着重于带宽和力传感的延迟。高带宽力传感对于应对未知环境的运动控制系统很重要。使用反应扭矩观察者而不是力传感器来检测本文的外力。力传感的带宽受到采样周期和数据噪声的限制。力信息的延迟可能会恶化力控制的性能，因为力信息被喂养。根据这些考虑，本文提议将多胎抽样方法应用于力控制系统。为多培养系统修改了反应扭矩观察者。力传感的带宽可以改善，并通过提出的方法可以减少力信息的延迟。该提案的有效性通过稳定性分析，模拟和实验结果来验证。
This paper focuses on a bandwidth and a delay of force sensing. High bandwidth force sensing is important for motion control systems to cope with unknown environments. Reaction torque observer is utilized instead of force sensors to detect external force in this paper. The bandwidth of force sensing is limited by the sampling period and data noise. The delay in force information may deteriorate the performance of force control since force information is fed back. According to these considerations, this paper proposes application of a multirate sampling method to the force control system. Reaction torque observer is modified for the multirate system. The bandwidth of force sensing can be improved and the delay in force information can be decreased with the proposed method. The validity of the proposal is verified by stability analysis, simulation and experimental results.
影响因子：
7.7
作者：
Fujimoto, H;Hori, Y;Kawamura, A
通讯作者：
Kawamura, A