TY - GEN
T1 - Position and torque sensorless motion transmission for haptic teleoperation using two types of voltage compensation
AU - Akutsu, Shuhei
AU - Sekiguchi, Hiromu
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:
© 2017 IEEE.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - 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.
AB - 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.
KW - bilateral teleoperation
KW - brushed DC motor
KW - haptic transmission
KW - master-slave
KW - sensorless drive
UR - http://www.scopus.com/inward/record.url?scp=85048586334&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048586334&partnerID=8YFLogxK
U2 - 10.1109/M2VIP.2017.8211445
DO - 10.1109/M2VIP.2017.8211445
M3 - Conference contribution
AN - SCOPUS:85048586334
T3 - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
SP - 1
EP - 6
BT - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
Y2 - 21 November 2017 through 23 November 2017
ER -