1P1-J02 ロボティクスのための高精度速度計測法(3次元計測/センサフュージョン)

概要

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This paper deals with a velocity measurement method for robotics. The authors have proposed "synchronous-measurement method (S method)" that measures the velocity in sync with alteration of pulse numbers of an optical encoder. The method has an advantage that accurate velocity measurement is achieved in all speed ranges. The method, however, has a technical issue in practice: accuracy often deteriorates with nonideality of interpulse angles in the optical encoder. Only complicated algorithm with conditional branching can solve this issue. Hence this study proposes a method that solves the issue by a simple algorithm without any branching. Simulation results show the measurement accuracy while experimental results verify control performance of the proposed method.
一般社団法人日本機械学会の論文
2007-05-11