R/Cサーボモータでのセンサレス反力推定

抄録

This paper proposes a method for reaction force estimation in R/C Servo Motors. External force measurement is an essential technique in robotics and there are demands on sensorless force sensing. Reaction force observer using a voltage control driver is introduced for sensorless reaction force estimation. In the system that adopts a voltage control PWM drivers, it is necessary to consider the influence of the skin effect. This method can be implemented without changing the setup of the existing R/C Servo Motor. The performance of this method is evaluated by the experiment applying force to the portable ankle training robot.