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An Application of Motion-Copying System Using FPGA based Friction-Free Disturbance Observer (産業計測制御 メカトロニクス制御合同研究会 産業計測制御・メカトロニクス制御一般)
TLDR
We propose a friction-free disturbance observer with a dither signal for both motion-saving and motion-loading systems, which reduces the effect of friction and harmonic disturbances in force estimation. Expand
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