Enhancing transparency on a ball screw teleoperation robot system using a novel velocity estimation method with FPGA

摘要

Applications are using force sensation in order to estimate real contact with the environment. In a bilateral control, force feedback is needed, but a force sensor is not suitable. Hence, the force sensation is improved by using a new velocity estimation that is programmed into the FPGA. The short processing time used in the FPGA improves the force sensation in the bilateral ball screw systems. The force sensation results are higher and faster than provided by the conventional method.