Sensorless Bilateral Control Using Hall ICs

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

Abstract

Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to model errors, parameter variations, and other unexpected factors. Feedback control with some position sensors is practically required for teleoperation. Therefore, this study aims at sensorless bilateral control using Hall ICs. A proposed bilateral control does not necessarily require disturbance observers unlike a conventional method originally using high-resolution sensors. Owing to this advantage, low-resolution sensors are applicable to the proposed bilateral control. Experiments showed that the proposed method succeeded bilateral control using Hall ICs without mechanical sensors, although the conventional control did not work using the low-resolution sensors. Therefore, the proposed method will be able to enhance fault-tolerance of teleoperation systems.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages243-248
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 2019 Mar 182019 Mar 20

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period19/3/1819/3/20

Fingerprint

Sensor
Sensors
Teleoperation
Remote control
Fault tolerance
Fault Tolerance
Sensorless Control
Disturbance Observer
Model Error
Sensorless control
Feedback Control
Feedback control
Torque
High Resolution
Experiment
Experiments

Keywords

  • Bilateral control
  • haptics
  • master-slave
  • motion transmission
  • sensorless control
  • teleoperation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

Cite this

Akutsu, S., Nozaki, T., & Murakami, T. (2019). Sensorless Bilateral Control Using Hall ICs. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 243-248). [8722830] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722830

Sensorless Bilateral Control Using Hall ICs. / Akutsu, Shuhei; Nozaki, Takahiro; Murakami, Toshiyuki.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 243-248 8722830 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).

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

Akutsu, S, Nozaki, T & Murakami, T 2019, Sensorless Bilateral Control Using Hall ICs. in Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019., 8722830, Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 243-248, 2019 IEEE International Conference on Mechatronics, ICM 2019, Ilmenau, Germany, 19/3/18. https://doi.org/10.1109/ICMECH.2019.8722830
Akutsu S, Nozaki T, Murakami T. Sensorless Bilateral Control Using Hall ICs. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 243-248. 8722830. (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). https://doi.org/10.1109/ICMECH.2019.8722830
Akutsu, Shuhei ; Nozaki, Takahiro ; Murakami, Toshiyuki. / Sensorless Bilateral Control Using Hall ICs. Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 243-248 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).
@inproceedings{2674a90f588e48d58eb44521692c6cbe,
title = "Sensorless Bilateral Control Using Hall ICs",
abstract = "Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to model errors, parameter variations, and other unexpected factors. Feedback control with some position sensors is practically required for teleoperation. Therefore, this study aims at sensorless bilateral control using Hall ICs. A proposed bilateral control does not necessarily require disturbance observers unlike a conventional method originally using high-resolution sensors. Owing to this advantage, low-resolution sensors are applicable to the proposed bilateral control. Experiments showed that the proposed method succeeded bilateral control using Hall ICs without mechanical sensors, although the conventional control did not work using the low-resolution sensors. Therefore, the proposed method will be able to enhance fault-tolerance of teleoperation systems.",
keywords = "Bilateral control, haptics, master-slave, motion transmission, sensorless control, teleoperation",
author = "Shuhei Akutsu and Takahiro Nozaki and Toshiyuki Murakami",
year = "2019",
month = "5",
day = "24",
doi = "10.1109/ICMECH.2019.8722830",
language = "English",
series = "Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "243--248",
booktitle = "Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019",

}

TY - GEN

T1 - Sensorless Bilateral Control Using Hall ICs

AU - Akutsu, Shuhei

AU - Nozaki, Takahiro

AU - Murakami, Toshiyuki

PY - 2019/5/24

Y1 - 2019/5/24

N2 - Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to model errors, parameter variations, and other unexpected factors. Feedback control with some position sensors is practically required for teleoperation. Therefore, this study aims at sensorless bilateral control using Hall ICs. A proposed bilateral control does not necessarily require disturbance observers unlike a conventional method originally using high-resolution sensors. Owing to this advantage, low-resolution sensors are applicable to the proposed bilateral control. Experiments showed that the proposed method succeeded bilateral control using Hall ICs without mechanical sensors, although the conventional control did not work using the low-resolution sensors. Therefore, the proposed method will be able to enhance fault-tolerance of teleoperation systems.

AB - Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to model errors, parameter variations, and other unexpected factors. Feedback control with some position sensors is practically required for teleoperation. Therefore, this study aims at sensorless bilateral control using Hall ICs. A proposed bilateral control does not necessarily require disturbance observers unlike a conventional method originally using high-resolution sensors. Owing to this advantage, low-resolution sensors are applicable to the proposed bilateral control. Experiments showed that the proposed method succeeded bilateral control using Hall ICs without mechanical sensors, although the conventional control did not work using the low-resolution sensors. Therefore, the proposed method will be able to enhance fault-tolerance of teleoperation systems.

KW - Bilateral control

KW - haptics

KW - master-slave

KW - motion transmission

KW - sensorless control

KW - teleoperation

UR - http://www.scopus.com/inward/record.url?scp=85067104494&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85067104494&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2019.8722830

DO - 10.1109/ICMECH.2019.8722830

M3 - Conference contribution

AN - SCOPUS:85067104494

T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

SP - 243

EP - 248

BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

PB - Institute of Electrical and Electronics Engineers Inc.

ER -