DocumentCode :
2942729
Title :
A novel curve fitting based discrete velocity estimator for high performance motion control
Author :
Chen, Lisha ; Laffranchi, Matteo ; Tsagarakis, Nikos G. ; Caldwell, Darwin G.
Author_Institution :
Italian Inst. of Technol. (UT), Genova, Italy
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
1060
Lastpage :
1065
Abstract :
Robotics applications typically need high accuracy and repeatability obtained through precise measurement and control of the robot states which is not available in many cases due to the absence of the necessary sensor motivating the use of estimators. A typical scenario is represented by applications where position sensors (encoders) are present in the robot and velocity measurements are needed by the control scheme. Velocity estimators based on curve fitting (CF) are proposed and evaluated in this paper. A novel CF-based velocity estimator is developed for fitting a smooth curve by computing its polynomial parameters from a given set of position data points. The advantages of this estimator are essentially four: ease of implementation, high operational bandwidth with small phase lag and amplitude attenuation, high computational speed and effectiveness when used with low resolution position sensors. Furthermore, the novel method is model free. The efficacy of the estimator is confirmed by extensive simulation studies while experimental validation evidence is also provided on a single degree of freedom system demonstrating the accuracy and effectiveness of the proposed methods.
Keywords :
curve fitting; motion control; polynomial matrices; robots; amplitude attenuation; high operational bandwidth; high performance motion control; novel CF-based velocity estimator; novel curve fitting based discrete velocity estimator; polynomial parameters; position sensors; precise measurement; robotics applications; small phase lag; velocity measurements; Computational modeling; Curve fitting; Estimation; Fitting; Frequency estimation; Polynomials; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6265911
Filename :
6265911
Link To Document :
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