Speed control and sensorless force control with magnetic gear

Hiroki Komiyama, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages325-330
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CityNagaoka, Niigata
Period10/3/2110/3/24

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Komiyama, H., & Uchimura, Y. (2010). Speed control and sensorless force control with magnetic gear. In International Workshop on Advanced Motion Control, AMC (pp. 325-330). [5464112] https://doi.org/10.1109/AMC.2010.5464112