Position and torque sensorless motion transmission for haptic teleoperation using two types of voltage compensation

Shuhei Akutsu, Hiromu Sekiguchi, Takahiro Nozaki, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known as requirements for haptic teleoperation. This paper shows an integration of two types of voltage compensation to conduct sensorless motion transmission. Analyses and simulations confirmed that the proposed method succeeded sensorless motion transmission between remote motors. The proposed voltage compensation enables sensorless motion transmission to be used for haptic teleoperation.

Original languageEnglish
Title of host publication2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
Volume2017-December
ISBN (Electronic)9781509065462
DOIs
Publication statusPublished - 2017 Dec 14
Event24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
Duration: 2017 Nov 212017 Nov 23

Other

Other24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
CountryNew Zealand
CityAuckland
Period17/11/2117/11/23

Keywords

  • bilateral teleoperation
  • brushed DC motor
  • haptic transmission
  • master-slave
  • sensorless drive

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Optimization

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  • Cite this

    Akutsu, S., Sekiguchi, H., Nozaki, T., & Murakami, T. (2017). Position and torque sensorless motion transmission for haptic teleoperation using two types of voltage compensation. In 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 (Vol. 2017-December, pp. 1-6). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/M2VIP.2017.8211445