Human-friendly human-support motion systems based on helical motors

2015 Fiscal Year Final Research Report

• Project/Area Number: 24246047
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Yokohama National University
• Principal Investigator: Fujimoto Yasutaka 横浜国立大学, 工学(系)研究科(研究院), 教授 (60313475)
• Co-Investigator(Kenkyū-buntansha): KAWAMURA Atsuo 横浜国立大学, 工学研究院, 教授 (80186139) ; SHIMONO Tomoyuki 横浜国立大学, 工学研究院, 准教授 (90513292)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Keywords: アクチュエータ / 電気機器 / モーションコントロール / スパイラルモータ

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.

Free Research Field

モーションコントロール