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

M. Nandayapa, C. Mitsantisuk, K. Ohishi
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引用次数: 9

摘要

用于医疗或工业应用的双边控制需要提供快速处理和精度。现场可编程门阵列(FPGA)在这方面有所帮助。与传统的估计方法相比,速度和加速度估计算法在实现过程中需要更短的处理时间。力伺服和位置调节器分别在通用和差分模式下实现双边控制。差分模式下的位置、速度和加速度(PVA)反馈增强了双侧控制中的位置跟踪。双侧机器人系统采用滚珠丝杠机构实现。
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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.
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