{"title":"在FPGA中采用新的速度和加速度估计方法改善双边控制反馈","authors":"M. Nandayapa, C. Mitsantisuk, K. Ohishi","doi":"10.1109/AMC.2012.6197024","DOIUrl":null,"url":null,"abstract":"The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force servoing and position regulator, respectively. Position, velocity and acceleration (PVA) feedback in the differential mode enhance position tracking in the bilateral control. The bilateral robot system is implemented using ball screw mechanisms.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"64 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Improving bilateral control feedback by using novel velocity and acceleration estimation methods in FPGA\",\"authors\":\"M. Nandayapa, C. Mitsantisuk, K. Ohishi\",\"doi\":\"10.1109/AMC.2012.6197024\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force servoing and position regulator, respectively. Position, velocity and acceleration (PVA) feedback in the differential mode enhance position tracking in the bilateral control. The bilateral robot system is implemented using ball screw mechanisms.\",\"PeriodicalId\":6439,\"journal\":{\"name\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"64 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2012.6197024\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2012.6197024","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Improving bilateral control feedback by using novel velocity and acceleration estimation methods in FPGA
The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force servoing and position regulator, respectively. Position, velocity and acceleration (PVA) feedback in the differential mode enhance position tracking in the bilateral control. The bilateral robot system is implemented using ball screw mechanisms.