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

Shuhei Akutsu, Hiromu Sekiguchi, Takahiro Nozaki, Toshiyuki Murakami

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-6
ページ数6
ISBN(電子版)9781509065462
DOI
出版ステータスPublished - 2017 12 14
イベント24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
継続期間: 2017 11 212017 11 23

出版物シリーズ

名前2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
2017-December

Other

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

ASJC Scopus subject areas

  • 機械工学
  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御と最適化

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