基于加权传感器融合的选择性精密运动控制

K. Tan, Poi Voon Er, Rui Yang, C. Teo
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引用次数: 6

摘要

随着机器人和自动化对高精度的需求不断增加,位置测量的精度是实现高精度控制性能的基础和至关重要的。考虑到在成本与性能考虑方面的共同利益冲突,甚至在同一应用程序中产生的不同性能度量之间的利益冲突,需要在这些问题之间进行有效的平衡,以激励使用多个传感器进行相同的测量。本文将重点介绍此类场景的示例,并提供了一种通过选择性融合多个候选信号来实现精确运动控制的方法。演示了使用磁性编码器和软位置传感器与模拟速度传感器结合的线性电机的精确运动控制的具体应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Selective precision motion control using weighted sensor fusion approach
With the continued increasing demand for high precision in robotics and automation, the accuracy of the position measurement is fundamental and critically important to achieve high precision control performance. Given common conflicting interests in cost versus performance considerations, or even among different performance measures arising in the same application, the need for an effective balance among these issues can arise to motivate the use of multiple sensors for the same measurement. Examples of such scenarios will be highlighted in the paper and an approach towards precision motion control with a selective fusion of multiple signal candidates is furnished. A specific application towards precision motion control of a linear motor using a magnetic encoder and a soft position sensor in conjunction with an analog velocity sensor is demonstrated.
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