An enhanced adaptive windowing technique for velocity and acceleration estimation using incremental position encoders

In this paper, an enhanced velocity and acceleration estimation method is presented based on the discrete-time adaptive windowing technique that exclusively employs incremental optical position sensor readings. In a previous work proposed by, a first-order adaptive windowing method (FOAW) was shown to be optimal in the sense that it minimizes the velocity error variance while maximizing the accuracy of the estimates. Since the method lacks the ability of accurate acceleration estimation, a new model is developed to estimate the acceleration from signals generated by quantized position sensors. Hence, a numerical solution of an enhanced adaptive windowing (EAW) method is derived and simulated for velocity and acceleration estimation. Effectiveness of the proposed method is validated by experiments done on a one degree of freedom haptic device.