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Multi-sensor fusion in Kalman-filter for high performance force sensing

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3 Author(s)
Thao Tran Phuong ; Dept. of Electr. Eng., Nagaoka Univ. of Technol., Nagaoka, Japan ; Mitsantisuk, C. ; Ohishi, K.

Sensorless force sensation by disturbance observer has been widely employed in numerous applications due to its superiority to the measurement by a force sensor. This paper introduces the development of the disturbance observer to obtain the high performance force sensing with a wideband force sensation. In this paper, a multi-sensor data fusion by Kalman-filter algorithm is exploited for velocity estimation which plays the role of an input of the disturbance observer. The combination of multi-sensor-based Kalman-filter and the disturbance observer provides the enhanced force sensing performance and the effective noise reduction. The proposed method is implemented in FPGA with the sampling period of 5 μs. Experimental results confirm the feasibility of the proposed method.

Published in:

Industrial Technology (ICIT), 2011 IEEE International Conference on

Date of Conference:

14-16 March 2011