| Budget Amount *help |
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2020: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2019: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2018: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
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| Outline of Final Research Achievements |
There are practical requirements on transmission of haptic sensation without the position sensor at the remote side. In case of using dc servo motor at the remote side, it is possible to estimate the haptic sensation by the signal of voltage across the inserted inductor at the armature circuit, however the estimation includes drift. In the case of brushless dc servo motor, the reluctance at the d-axis can be utilized and it is possible to avoid the drift. According to the experiments, there are almost no error in steady state for estimated position and estimated force by employment of the proposed algorithms. There are up to 50% error for estimated position as well as 20% error of force in the transient state. These transient errors are immediately converged to zero after several sampling times of the controller. If the engineering environment at the remote side is not suitable for teleoperation the proposed method will solve the problem by saving any sensors at the remote side.
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