Improving bilateral control feedback by using novel velocity and acceleration estimation methods in FPGA

Abstract

The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force servoing and position regulator, respectively. Position, velocity and acceleration (PVA) feedback in the differential mode enhance position tracking in the bilateral control. The bilateral robot system is implemented using ball screw mechanisms.