抄録
In this paper, force sensor-less servo control technique for haptic interfaces using stochastic resonance is proposed. The haptic interface developed in this research consists of an AC servo motor with a ball screw. For estimation of applied force, Reaction Force Observer is employed. Since the ball screw structure has high viscosity, response of the force estimation is not suitable for practical industrial application. In this paper, to improve the system responsiveness, servo control system with stochastic resonance is proposed. Finally, several experiments show the effectiveness of the stochastic resonance.
