Development of a Fine Haptic Simulator for Storage and Reproduction of Real-world Objects

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K05934
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Nagaoka University of Technology
• Principal Investigator: Yokokura Yuki 長岡技術科学大学, 工学研究科, 助教 (70622364)
• Co-Investigator(Kenkyū-buntansha): 大石 潔 長岡技術科学大学, 工学研究科, 教授 (40185187)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: Force control / Impedance control / Momentum control / Admittance control / Linear amplifier

Outline of Final Research Achievements

In this research, we developed the fine reproduction system for the environmental haptic sensations of target objects. In order to overcome the problems of conventional systems, we proposed a new reproduction system of haptic sensations based on momentum control. Moreover, we proposed a new diode-clamped linear amplifier (DCLA) topology using only n-channel MOSFETs. Because the DCLA uses multilevel topology and active state of MOSFETs, noise levels of output voltage of the proposed DCLA is lower than general pulse width modulation(PWM) inverters. Additionally, this research also proposed a method of voltage feed-back control, which is capable of compensating crossover distortion of the DCLA. The output voltage of the DCLA has crossover distortion that causes the increase of voltage error and total harmonic distortion. Therefore, we achieved the very fine, low noise, high efficiency motor drives. The effectiveness of the proposed method is confirmed by experiments and analysis.

Free Research Field

Motion control, Power electronics, Haptics