Analog Position using Sensor Fusion for Haptic Systems Control

摘要

In this paper, we propose two methods to compute low latency analog position through sensor fusion of encoder and rate gyro signals. While one method is based on gyro with bias correction using encoder information, the other one is encoder-referenced combined with a resettable integrator to minimize the staircase form of encoder signals. Electronic circuit designs are provided and experimental tests using a 1-DOF haptic platform were performed. The results show that a low-latency analog position with an accuracy over 98% compared to the sampled encoder signal can be obtained.