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Contactless magnetic gear for robot control application
Author(s) -
Komiyama Hiroki,
Uchimura Yutaka
Publication year - 2013
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22414
Subject(s) - magnetic gear , torque , control theory (sociology) , cogging torque , robot , reaction , transmission (telecommunications) , spring (device) , engineering , computer science , control engineering , control (management) , mechanical engineering , magnet , physics , electrical engineering , artificial intelligence , thermodynamics
Summary This paper describes the application of a magnetic gear to a robot by fulfilling the essential requirements for a robot control, which are velocity control, position control, and force control. A magnetic gear is a transmission device that realizes contactless torque transmission by applying a magnetic force. When using a magnetic gear, cogging torque and spring characteristics need to be considered. In this paper, we introduce an approximate model of cogging torque. This model is used for velocity control to attenuate the disturbance due to cogging torque. In the case of position control, the oscillations due to the spring effect of the magnetic attractive force become a problem. To reduce the adverse effect due to these oscillations, resonance ratio control is applied. We also propose to use a magnetic gear for realizing force sensorless bilateral control of teleoperation. Because of the frictionless transmission of a magnetic gear, the force sensorless estimation of a reaction force can be realized using a reaction force observer. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 184(4): 32–41, 2013; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22414