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dc.contributor.advisorKazanzides, Peter
dc.creatorWu, Jie Ying
dc.date.accessioned2021-02-16T18:39:20Z
dc.date.available2021-02-16T18:39:20Z
dc.date.created2020-12
dc.date.issued2020-12-03
dc.date.submittedDecember 2020
dc.identifier.urihttp://jhir.library.jhu.edu/handle/1774.2/63823
dc.description.abstractRobot control algorithms often rely on measurements of robot joint velocities, which can be estimated by measuring the time between encoder edges. When encoder edges occur infrequently, such as at low velocities and/or with low resolution encoders, this measurement delay may affect the stability of closed-loop control. This is evident in both the joint position control and Cartesian impedance control of the da Vinci Research Kit (dVRK), which contains several low-resolution encoders. We present a hardware-based method that gives more frequent velocity updates and is not affected by common encoder imperfections such as non-uniform duty cycles and quadrature phase error. The proposed method measures the time between consecutive edges of the same type but, unlike prior methods, is implemented for the rising and falling edges of both channels. Additionally, it estimates acceleration to enable software compensation of the measurement delay. The method is shown to improve Cartesian impedance control of the dVRK.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherJohns Hopkins University
dc.subjectSurgical robot
dc.subjectvelocity estimation
dc.subjectimpedance control
dc.titleFPGA-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders
dc.typeThesis
thesis.degree.disciplineRobotics
thesis.degree.grantorJohns Hopkins University
thesis.degree.grantorWhiting School of Engineering
thesis.degree.levelMasters
thesis.degree.nameM.S.E.
dc.date.updated2021-02-16T18:39:20Z
dc.type.materialtext
thesis.degree.departmentRobotics
dc.publisher.countryUSA
dc.creator.orcid0000-0002-7306-8140


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