External Torque Estimation for an Industrial Robot Arm using Joint Torsion and Motor Current Measurements
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.700
Abstract: Abstract Human robot collaboration requires specific properties of modern lightweight robots that differ from conventional robots. One of these is the property of reacting to external forces acting on the robot structure, which typically requires… read more here.
Keywords: robot; motor current; external torque; torque estimation ... See more keywords
Speed and torque estimation of variable frequency drives with effective values of stator currents
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.270
Abstract: Abstract We introduce a new method for torque and speed estimation of induction motors under voltage/frequency (V/f) open-loop control. In contrast to existing approaches that need the phase current, the proposed algorithm only requires the… read more here.
Keywords: speed torque; torque estimation; frequency; variable frequency ... See more keywords
Sensorless Control of Synchronous Motor Drives: Accurate Torque Estimation and Control Under Parameter Errors
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Journal of Emerging and Selected Topics in Power Electronics"
DOI: 10.1109/jestpe.2020.3037792
Abstract: Accurate torque control is of interest in traction and other industrial applications, whose realization is challenged by parameters errors and temperature-induced variations. This article proposes a sensorless technique for resilient torque control in salient synchronous… read more here.
Keywords: torque control; control; accurate torque; torque estimation ... See more keywords
SPMSMs Sensorless Torque Estimation Using High-Frequency Signal Injection
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Industry Applications"
DOI: 10.1109/tia.2020.2975757
Abstract: Torque measurement/estimation in surface permanent magnet synchronous machines (SPMSMs) is needed in many applications. Torque measurement systems are expensive, require extra room, add weight, can introduce resonances into the system, and their performance can be… read more here.
Keywords: high frequency; torque estimation; frequency signal; injection ... See more keywords
Simultaneous Sensorless Rotor Position and Torque Estimation for IPMSM at Standstill and Low Speed Based on High-Frequency Square Wave Voltage Injection
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3114725
Abstract: In this article, a method of simultaneous sensorless rotor position and torque estimation is proposed for interior permanent magnet synchronous machines at standstill and low speed. The proposed method estimates the torque using high-frequency inductances… read more here.
Keywords: standstill low; torque estimation; rotor position; low speed ... See more keywords
Torque Estimation of Knee Flexion and Extension Movements From a Mechanomyogram of the Femoral Muscle
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Neural Systems and Rehabilitation Engineering"
DOI: 10.1109/tnsre.2022.3169225
Abstract: A mechanomyogram is a visualization of the mechanical signal from the surface of a muscle when the muscle is contracted. The setup of the mechanomyography (MMG) measurement is simpler than the setup for surface electromyography… read more here.
Keywords: torque estimation; muscle; method; estimation ... See more keywords
A sensor-less contact torque estimation and haptic feedback method in minimally invasive surgery
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881419882201
Abstract: To satisfy the needs of surgeons for judging the contact state of the catheter robot and modify the operation accordingly, a novel contact torque estimation and haptic feedback method is proposed in this article. Using… read more here.
Keywords: feedback; torque estimation; contact torque; method ... See more keywords