Numata, Kosuke (The University of Tokyo), Nomura, Yusuke (MICROTECH LABORATORY INC.), Altanbileg, Adiyasuren (KSJ), Takada, Shuji (KSJ), Koseki, Takafumi (The University of Tokyo), Ohnishi, Wataru (The University of Tokyo)

Chebyshev Polynomial-Based Higher-Order Derivatives Estimation from an Encoder

Scheduled for presentation during the Invited Session "Cutting-edge technology in Precision Servo Systems for Next-Generation Mechatronics" (FrAT1), Friday, July 18, 2025, 10:20−10:40, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

The quantization noise in the encoder, which is a position sensor, is one factor that deteriorates the estimation performance of higher-order derivatives of position, such as velocity or acceleration. This paper aims to develop a method with smaller estimation errors than conventional methods. This paper proposes Chebyshev polynomial-based estimation method of general higher-order derivatives. The proposed method enables better rejection of quantization noise from the measured data than using the frequency-domain method. The performance of the proposed method is validated by velocity and acceleration estimation simulations.