Disturbance observer and feedforward design for a 2-DOF high-speed/high-accuracy robotic system

2005 ◽  
Author(s):  
Jing Cui ◽  
Zhongyi Chu
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
High Accuracy ◽  
Robotic System

High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

1999 ◽  
Vol 122 (1) ◽  
pp. 166-173 ◽  
Author(s):  
M. Shiraishi ◽  
S. Sugano ◽  
S. Aoshima
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
High Accuracy ◽  
Decoupling Control ◽  
Robot Hand ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Load Variations ◽  
Acceleration Sensors ◽  
Made In

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6]

Robust High-Speed Positioning Servo System Based on Disturbance Observer

2009 ◽  
Vol 129 (3) ◽  
pp. 235-242 ◽  
Author(s):  
Masaki Sazawa ◽  
Kiyoshi Ohishi ◽  
Seiichiro Katsura
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
Servo System

scholarly journals Multi-Touch Interaction Generation Device by Spatiotemporally Switching Electrodes

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1475
Author(s):  
Masahiro Okamoto ◽  
Kazuya Murao
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
Conductive Ink ◽  
Control Board ◽  
Touch Panel ◽  
Electrode Size ◽  
Touch Input ◽  
Touch Interaction ◽  
Multiple Electrodes ◽  
Touch Panels

With the spread of devices equipped with touch panels, such as smartphones, tablets, and laptops, the opportunity for users to perform touch interaction has increased. In this paper, we constructed a device that generates multi-touch interactions to realize high-speed, continuous, or hands-free touch input on a touch panel. The proposed device consists of an electrode sheet printed with multiple electrodes using conductive ink and a voltage control board, and generates eight multi-touch interactions: tap, double-tap, long-press, press-and-tap, swipe, pinch-in, pinch-out, and rotation, by changing the capacitance of the touch panel in time and space. In preliminary experiments, we investigated the appropriate electrode size and spacing for generating multi-touch interactions, and then implemented the device. From the evaluation experiments, it was confirmed that the proposed device can generate multi-touch interactions with high accuracy. As a result, tap, press-and-tap, swipe, pinch-in, pinch-out, and rotation can be generated with a success rate of 100%. It was confirmed that all the multi-touch interactions evaluated by the proposed device could be generated with high accuracy and acceptable speed.

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