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

研究成果: Conference contribution

1 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ5098-5103
ページ数6
ISBN(電子版)9781509066841
DOI
出版物ステータスPublished - 2018 12 26
イベント44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
継続期間: 2018 10 202018 10 23

出版物シリーズ

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

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
United States
Washington
期間18/10/2018/10/23

Fingerprint

Least Mean Square
Parameter Identification
Torque
Identification (control systems)
Motion
Sensorless Control
Teleoperation
Remote control
Fault tolerance
Adaptability
Fault Tolerance
Actuator
Injection
Synchronization
Actuators
Robot
Voltage
Robots
Electric potential
Resistance

ASJC Scopus subject areas

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

これを引用

Akutsu, S., Nozaki, T., & Murakami, T. (2018). Position and torque sensorless motion transmission using parameter identification based on least mean squares method. : 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

Position and torque sensorless motion transmission using parameter identification based on least mean squares method. / Akutsu, Shuhei; Nozaki, Takahiro; Murakami, Toshiyuki.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. p. 5098-5103 8591227 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

研究成果: Conference contribution

Akutsu, S, Nozaki, T & Murakami, T 2018, Position and torque sensorless motion transmission using parameter identification based on least mean squares method. : Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society., 8591227, Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Institute of Electrical and Electronics Engineers Inc., pp. 5098-5103, 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018, Washington, United States, 18/10/20. https://doi.org/10.1109/IECON.2018.8591227
Akutsu S, Nozaki T, Murakami T. Position and torque sensorless motion transmission using parameter identification based on least mean squares method. : Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2018. p. 5098-5103. 8591227. (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). https://doi.org/10.1109/IECON.2018.8591227
Akutsu, Shuhei ; Nozaki, Takahiro ; Murakami, Toshiyuki. / Position and torque sensorless motion transmission using parameter identification based on least mean squares method. Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 5098-5103 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).
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