| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2014: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Outline of Final Research Achievements |
Motion-copying system, which is capable of storing and reproducing motions of human operators, still has problems with regard to frequency bandwidth and accuracy of motion representation. A wideband force control system and very fast current controller are required in order to completely store and reproduce haptic information. In this research, diode-clamped linear amplifiers(DCLAs) for low-noise and fine sensorless force control were developed. The typical pulse width modulation(PWM) inverters are not suitable for driving a motor precisely, due to switching noise. In particular, a force control system using the PWM inverter cannot generate low-noise and fine precise force. On the other hand, by using DCLAs, the problems such as the power efficiency, the current noise, and the force noise were solved. By the theoretical analysis, the simulations, and the experiment, the validity of the force control using DCLAs was verified.
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