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Force Sensing and Force Control Using Multirate Sampling Method
https://sucra.repo.nii.ac.jp/records/9326
https://sucra.repo.nii.ac.jp/records/9326e01925d1-e178-4999-ba22-6855b3422faa
名前 / ファイル | ライセンス | アクション |
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A1002448.pdf (871.3 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Force Sensing and Force Control Using Multirate Sampling Method | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
水落, 麻里子
× 水落, 麻里子× 辻, 俊明× 大西, 公平 |
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著者 ローマ字 | ||||||
Mizuochi, Mariko | ||||||
著者 ローマ字 | ||||||
Toshiaki, Tsuji | ||||||
著者 ローマ字 | ||||||
Ohnishi, Kouhei | ||||||
著者 所属 | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
the 31st Annual Conference of the Industrial Electronics Society, IECON 2005 p. 1919-1924, 発行日 2005 |
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年月次 | ||||||
2005-11 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002448 |