Modeling of Stochastic Disturbance Based on Quantum Physics for High-Performance Force Estimation

Abstract

Delicate movement with high-precision performance is required in industrial areas such as medical care and semiconductor processing. Taking the expansion of the robotic movement area into account, attainment of force control is the one of the fundamental techniques for working in a microspace. To focus on the force information in a microspace, the transmission of microforce information is important to avoid destruction of the delicate object. However, the quality of force information is deteriorated by the influence of a stochastic disturbance such as quantization noise and sensor noise. In other words, high-precision force control is closely related to a reduction in the influence of the stochastic disturbance. Therefore, this paper focuses on the stochastic disturbance as a quantum fluctuation that is derived as the Schrödinger equation. In order to reduce the stochastic disturbance, a novel modeling method that is focused on quantum fluctuation is proposed. In this paper, a resonant filter is introduced by a complex equivalent electrical circuit of the Schrödinger equation, and a reaction force observer is implemented. The viability of the proposed method and the reduction in the oscillation are confirmed by the displacement of the poles and experiments.