Evaluation of reproduction speed changer based on delta-sigma modulator for high speed motion-reproduction

Naotaka Fujii, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The development of motion control enables robot manipulators to reproduce the humans motion as known as motion-copying system. This epochal system is expected to automate delicate tasks that has been treated by human workers. Moreover, the motion-copying system can reproduce the stored motion at high speed by scaling time-axis of the stored motion-data. Using this technique, the efficiency of the industry will be substantially improved. However, there are still some problems that obstruct the practical use of the high speed motion-reproduction. One of the serious problem is how to change the reproduction speed. Although the most simple method is varying the sampling period of the system during the motion-reproduction, this method has to deteriorate the performance of the motion-storing system. In addition, multiple times motion-storing are required to realize several reproduction speed. In this paper, a novel interpolation method based on delta-sigma modulator and the weighted average filter is proposed and evaluated for the implementation of the fractional speed motion-reproduction. The presented interpolation method can achieve the high speed motion-reproduction without degrading the performance of motion-storing system, moreover, it can generate arbitrary reproduction speed from only one-time motion-storing. The effectiveness of the interpolation method is evaluated through several simulations and experiments.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479940325
Publication statusPublished - 2014 Feb 24

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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