scholarly journals Short-Transient Discrete Time-Variant Filter Dedicated for Correction of the Dynamic Response of Force/Torque Sensors

Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1291
Author(s):  
Piotr Okoniewski ◽  
Rafał Osypiuk ◽  
Jacek Piskorowski
Keyword(s):  
Discrete Time ◽  
Force Control ◽  
Negative Impact ◽  
Dynamic Properties ◽  
Test Environment ◽  
Damped Oscillations ◽  
Low Pass ◽  
Autonomous Assembly ◽  
The Time Domain ◽  
Low Pass Filters

The perception of touch opens new perspectives for so-called ’intelligent robotics’. Force/torque sensors are currently a key component of autonomous assembly processes or of the dynamically developing sector of collaborative robots. Response time is a critical parameter of force control, which has a direct effect on impact forces when the robot initiates contact with the environment. This paper indicates parameters of one of commercial force/torque sensors by JR3, in particular, its pre-defined low-pass filters. Their stationary nature introduces i.e. significant delay in the time domain, resulting in a negative impact on the overall dynamics of force control. To remedy the problem, our proposed approach is to employ a novel discrete time-variant filter with appropriately modulated parameters, owing to which it is possible to suppress the amplitude of the transient response and, at the same time, to increase the pulsation of damped oscillations; this results in the improvement of the dynamic properties in terms of reducing the duration of transients. Differences between a commercial, stationary filter and the recommended discrete time-variant filter have been shown experimentally, using a dedicated test environment.

Discrete time normalized low pass filters

1987 ◽  
Vol 13 (3) ◽  
pp. 332-333
Author(s):  
A.N Venetsanopoulos
Keyword(s):  
Discrete Time ◽  
Low Pass ◽  
Low Pass Filters

Design of Programmable Wideband Low Pass Filter with Continuous-Time/Discrete-Time Hybrid Architecture

2017 ◽  
Vol E100.C (10) ◽  
pp. 858-865 ◽  
Author(s):  
Yohei MORISHITA ◽  
Koichi MIZUNO ◽  
Junji SATO ◽  
Koji TAKINAMI ◽  
Kazuaki TAKAHASHI
Keyword(s):  
Discrete Time ◽  
Continuous Time ◽  
Hybrid Architecture ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass

Ku/Ka-band Compact Orthomode Junction with Low Pass Filters for High Power Applications

2015 ◽  
Vol E98.C (2) ◽  
pp. 156-161
Author(s):  
Hidenori YUKAWA ◽  
Koji YOSHIDA ◽  
Tomohiro MIZUNO ◽  
Tetsu OWADA ◽  
Moriyasu MIYAZAKI
Keyword(s):  
High Power ◽  
Ka Band ◽  
Low Pass ◽  
Low Pass Filters

Mathematical Model of Low-Pass Filters

2011 ◽  
Vol 5 (2) ◽  
pp. 155-162
Author(s):  
Jose de Jesus Rubio ◽  
Diana M. Vazquez ◽  
Jaime Pacheco ◽  
Vicente Garcia
Keyword(s):  
Mathematical Model ◽  
Low Pass ◽  
Low Pass Filters

scholarly journals Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Mathematics ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 328
Author(s):  
Mikulas Huba ◽  
Damir Vrancic
Keyword(s):  
Dead Time ◽  
Pid Controllers ◽  
Noisy Environment ◽  
Advantages And Disadvantages ◽  
Implementation Problem ◽  
Low Pass ◽  
Excellent Control ◽  
Low Pass Filters ◽  
Double Integrator

The paper investigates and explains a new simple analytical tuning of proportional-integrative-derivative (PID) controllers. In combination with nth order series binomial low-pass filters, they are to be applied to the double-integrator-plus-dead-time (DIPDT) plant models. With respect to the use of derivatives, it should be understood that the design of appropriate filters is not only an implementation problem. Rather, it is also critical for the resulting performance, robustness and noise attenuation. To simplify controller commissioning, integrated tuning procedures (ITPs) based on three different concepts of filter delay equivalences are presented. For simultaneous determination of controller + filter parameters, the design uses the multiple real dominant poles method. The excellent control loop performance in a noisy environment and the specific advantages and disadvantages of the resulting equivalences are discussed. The results show that none of them is globally optimal. Each of them is advantageous only for certain noise levels and the desired degree of their filtering.

scholarly journals 1.0 V-0.18 µm CMOS Tunable Low Pass Filters with 73 dB DR for On-Chip Sensing Acquisition Systems

Electronics ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 563
Author(s):  
Jorge Pérez-Bailón ◽  
Belén Calvo ◽  
Nicolás Medrano
Keyword(s):  
Power Consumption ◽  
Dynamic Range ◽  
Low Voltage ◽  
Cutoff Frequency ◽  
Cmos Technology ◽  
Active Area ◽  
Current Steering ◽  
Low Pass ◽  
On Chip ◽  
Low Pass Filters

This paper presents a new approach based on the use of a Current Steering (CS) technique for the design of fully integrated Gm–C Low Pass Filters (LPF) with sub-Hz to kHz tunable cut-off frequencies and an enhanced power-area-dynamic range trade-off. The proposed approach has been experimentally validated by two different first-order single-ended LPFs designed in a 0.18 µm CMOS technology powered by a 1.0 V single supply: a folded-OTA based LPF and a mirrored-OTA based LPF. The first one exhibits a constant power consumption of 180 nW at 100 nA bias current with an active area of 0.00135 mm2 and a tunable cutoff frequency that spans over 4 orders of magnitude (~100 mHz–152 Hz @ CL = 50 pF) preserving dynamic figures greater than 78 dB. The second one exhibits a power consumption of 1.75 µW at 500 nA with an active area of 0.0137 mm2 and a tunable cutoff frequency that spans over 5 orders of magnitude (~80 mHz–~1.2 kHz @ CL = 50 pF) preserving a dynamic range greater than 73 dB. Compared with previously reported filters, this proposal is a competitive solution while satisfying the low-voltage low-power on-chip constraints, becoming a preferable choice for general-purpose reconfigurable front-end sensor interfaces.

Sign in / Sign up

Export Citation Format

Share Document