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Varying mass estimation and force ripple compensation using Extended Kalman Filter for linear motor systems

Title
Varying mass estimation and force ripple compensation using Extended Kalman Filter for linear motor systems
Authors
Kim, Jong HwanChoi, Sei BumCho, Kwang HyunOh, Se Hoon
DGIST Authors
Oh, Se Hoon
Issue Date
2016
Citation
42nd Conference of the Industrial Electronics Society, IECON 2016, 5131-5136
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
In many industrial fields, the mass information of a moving system is important and necessary to prevent undesired motion or failure and to control the system in its desired trajectory. One simple solution could be direct measurement of the mass using a sensor such as force sensor and accelerometer. However, it requires additional cost increase. In addition, it is not easy to measure the mass of a moving part in many cases. For those reasons, in this research, an online varying mass estimation algorithm is designed using an Extended Kalman Filter (EKF) without any additional sensors. Furthermore, the lumped disturbance compensating algorithm, which was designed by the authors in the previous research using EKF, is combined to obtain further position tracking performance. The effectiveness of the suggested method is validated through simulations. Additional verification with experiments is planned for future work. © 2016 IEEE.
URI
http://hdl.handle.net/20.500.11750/1731
DOI
10.1109/IECON.2016.7794021
Publisher
IEEE Computer Society
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Robotics EngineeringETC2. Conference Papers


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