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Sensors 2018, 18(11), 3856; https://doi.org/10.3390/s18113856

Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints

Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
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Author to whom correspondence should be addressed.
Received: 9 October 2018 / Revised: 5 November 2018 / Accepted: 8 November 2018 / Published: 9 November 2018
(This article belongs to the Section Physical Sensors)
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Abstract

We propose a novel virtual torque sensor for commercial low-cost radio-controlled (RC) servo motors. The virtual torque sensor has played an important role for conventional robots. It has been used for torque-required control applications such as human–robot interaction and under-actuated robots. However, most virtual torque sensors are based on the inversion of actuators or robot dynamics with the assumption that entire dynamics are known. This is not applicable to the RC servo motors that have unknown control structures. As RC servo motors enable researchers and hobbyists to create lightweight but high performance robots in an easy and cost-effective manner, the development of a virtual torque sensor for these motors is necessary. In this study, we propose a design method of a virtual torque sensor for RC servo motors. First, the virtual sensor is derived mathematically based on internal dynamic models with parametric constraints and compared to the conventional model. Second, a dedicated system identification method is developed for the proposed virtual sensor to implement the sensor in actual experiments. Finally, we compare experimental results with the measurements obtained by an actual sensor. View Full-Text
Keywords: virtual torque sensor; remote-controlled servo motor; internal dynamic model; system identification virtual torque sensor; remote-controlled servo motor; internal dynamic model; system identification
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Hwang, Y.; Minami, Y.; Ishikawa, M. Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints. Sensors 2018, 18, 3856.

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