2022 Fiscal Year Annual Research Report
Research development of the super leading safe and smart next generation robot based on breakthrough superior wideband force perception and outstanding robot artificial intelligence
| Project/Area Number |
20K14713
|
|---|
| Research Institution | Nagaoka University of Technology |
|---|
Principal Investigator |
TRAN PHUONGTHAO 長岡技術科学大学, 工学研究科, 助教 (20848923)
|
|---|
| Project Period (FY) |
2020-04-01 – 2023-03-31
|
| Keywords | Motion control / Force control / Intelligent sensing / Deep learning / Robot |
|---|
| Outline of Annual Research Achievements |
This research accomplished the superior wideband and periodicity-cancellation force observer to resolve tough challenges in force sensing (noise, friction, undesired periodicities, bandwidth limitation). The superior wideband force sensing of 1 kHz was realized and successfully applied to attain a high-performance force control system. The bandwidth of 1 kHz is much wider than human tactile sensation (400 Hz) and is a record in the field of robot force control. Moreover, this research realized the deep-learning-based adaptive-noise-cancellation force sensing to address the variable noise that is usually unpredictable and difficult to identify in advance for noise suppression. This method realizes variable noise attenuation to enhance the force sensing and force control performances in a force control system where noise characteristics are variant. The technology developed in this research is useful in safe human-robot interaction applications, smart force sensing and smart force control systems where high flexibility and adaptation to various working environments are important.
|
