TY - GEN
T1 - Sensorless Bilateral Control Using Hall ICs
AU - Akutsu, Shuhei
AU - Nozaki, Takahiro
AU - Murakami, Toshiyuki
N1 - Funding Information:
This research was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Encouragement of Young Scientists (A), 16H06079, 2016.
Publisher Copyright:
© 2019 IEEE.
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.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -