Position and torque sensorless motion transmission using parameter identification based on least mean squares method

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

1 Citation (Scopus)

Abstract

Motion transmission is a technology which is expected to be used for teleoperation systems. Sensorless control can improve fault tolerance of teleoperation robots exposed to harsh environments. However, sensorless control methods are generally sensitive to parameter errors of an actuator. A previously proposed sensorless motion transmission method especially requires the accurate value of resistance. Therefore, this work aims to identify resistance of two direct current motors used as a master slave system. Taking account of the master slave system of which common mode and differential mode correspond respectively to torque transmission and velocity synchronization, a least mean squares method jointly using a voltage injection is newly applied to the differential mode. Simulation results validated the proposed identification method and indicated that the sensorless motion transmission succeeded using the identified resistance value. The proposed novel method will improve the usefulness of sensorless motion transmission by adaptability to parameter errors.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5098-5103
Number of pages6
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - 2018 Dec 26
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 2018 Oct 202018 Oct 23

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period18/10/2018/10/23

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Keywords

  • Bilateral control
  • Brushed DC motor
  • Haptic teleoperation
  • Master slave
  • Motion transmission
  • Sensorless drive

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Cite this

Akutsu, S., Nozaki, T., & Murakami, T. (2018). Position and torque sensorless motion transmission using parameter identification based on least mean squares method. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 5098-5103). [8591227] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591227