| Budget Amount *help |
¥46,280,000 (Direct Cost: ¥35,600,000、Indirect Cost: ¥10,680,000)
Fiscal Year 2015: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2014: ¥14,300,000 (Direct Cost: ¥11,000,000、Indirect Cost: ¥3,300,000)
Fiscal Year 2013: ¥10,270,000 (Direct Cost: ¥7,900,000、Indirect Cost: ¥2,370,000)
Fiscal Year 2012: ¥15,860,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥3,660,000)
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| Outline of Final Research Achievements |
We have developed a human-friendly system based on helical motors, which have been proposed by the principal investigator. In order to realize safe and quick response in the contact situation with humans, we have proposed compliant control and impact control. The air-gap control system for the helical motor can detect and absorb the impact force thanks to its mechanical structure. We have proposed a collision detection and control based on power on the gap and estimation of braking duration using linear momentum of the mover. We have experimentally proved that our method is accurate and robust against observation noise. We have also proposed a zero-power control to suppress effect of fluctuation of the gap distance caused by fabrication process, and have achieved 200N sensorless force control and full-stroke position control. This control stabilizes the mover at the natural equilibrium without applying additional current and realizes highly precise and energy-efficient motion.
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