Position and Torque Sensorless Motion Transmission Using Parameter Identification Based on Least Mean Squares Method

摘要

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.