Signal Limitation Filter to Satisfy Velocity and Acceleration Limits

摘要

In this paper, we propose a filter to satisfy velocity and acceleration limits for arbitrary input signals. The shapes of input signals are sometimes converted into trapezoidal wave in order to prevent an overload on the robot in FA field. Generally, physical protection of equipments, safety and ride quality are achieved with limitations for input signals about some properties. For achieving such limitation, the filters which limit some signal properties are widely used. A filter structure to satisfy velocity and acceleration limits was designed only simple feedback control with the saturation function. However, this structure had a problem that time-lag between the input signal and modified signal is occurred. To solve this problem, we propose a filter structure which is based on the model error compensator. Modified signal which is generated by the proposed filter satisfies the desired signal constraints for any input signals. By the proposed structure, time-lag can be smaller than the signals obtained by the previous method. The effectiveness of the proposed filter is shown by the numerical examples.