TY - GEN
T1 - Speed control and sensorless force control with magnetic gear
AU - Komiyama, Hiroki
AU - Uchimura, Yutaka
PY - 2010/6/25
Y1 - 2010/6/25
N2 - This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback.
AB - This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback.
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U2 - 10.1109/AMC.2010.5464112
DO - 10.1109/AMC.2010.5464112
M3 - Conference contribution
AN - SCOPUS:77953731835
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 325
EP - 330
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 -