TY - GEN
T1 - Torque sensor-less tactile control of electrorheological passive actuators
AU - Tanaka, Hidetaka
AU - Kakinuma, Yasuhiro
AU - Katsura, Seiichiro
AU - Aoyama, Tojiro
PY - 2010
Y1 - 2010
N2 - Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments.
AB - Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments.
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U2 - 10.1109/AMC.2010.5464109
DO - 10.1109/AMC.2010.5464109
M3 - Conference contribution
AN - SCOPUS:77953790025
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 331
EP - 336
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -