This paper demonstrates the iTaSC approach to a force-sensorless and bimanual human-robot comanipulation task on a tree-structured robot, comprising (i) co-manipulation of an object with a person, (ii) dynamic and static obstacle avoidance with its base, (iii) maintaining visual contact with the operator, and (iv) unnatural pose prevention. The task is implemented in a structured way in a reusa...

Despite the fast growing implementation of brushless DC motor, the older brushed DC motor is still relevant in many commercial, industrial and hobbyist applications due to low-cost and simplicity. Many brushed DC motor applications require precise speed and position control, thus requiring a sensor feedback. Commonly a separate rotary encoder is required to provide speed and positional feedback...

This paper presents to obtain the state estimations in low speed induction motor using Sensorless Constant Switching Frequency Controller (CSFC) technique. The state estimations referred to flux and torque. Therefore the CSFC enabling Induction motor with Direct Torque Control is built using the MATLAB/SIMULINK. The switching frequency is maintained constant in order to improve its state estima...

• Robust sensorless commutation control. • External speed reference. • Overcurrent detection/protection. • Basic speed controller included. • Full source code in C. • Source code can be adapted to a new motor by changing parameters. • Several I/O pins/peripherals not used for motor control. Can be used for other purposes, such as status LEDs, communication or user input. • Works without modific...

This paper presents a new position-and-velocity sensorless control of brushless dc motors using an adaptive sliding mode observer. The sliding mode observer is robust to measurement noises. Stability of the adaptive scheme is assured and estimation errors due to parameter deviations are analyzed.

The paper studies sensorless control for DC and induction motors, using Kalman Filtering techniques. First the case of a DC motor is considered and Kalman Filter-based control is implemented. Next the nonlinear model of a field-oriented induction motor is examined and the motor’s angular velocity is estimated by an Extended Kalman Filter which processesmeasurements of the rotor’s angle. Sensorl...

Recent developments in Soft computing techniques, power electronic switches and low-cost computational hardware have made it possible to design and implement sophisticated control strategies for sensorless speed control of AC motor drives. Such an attempt has been made in this work, for Sensorless Speed Control of Induction Motor (IM) by means of Direct Torque Fuzzy Control (DTFC), PI-type fuzz...

This paper presents a Model Reference Adaptive System (MRAS) based speed sensorless estimation of vector controlled Induction Motor Drive. MRAS based techniques are one of the best methods to estimate the rotor speed due to its performance and straightforward stability approach. Depending on the type of tuning signal driving the adaptation mechanism, MRAS estimators are classified into rotor fl...

In this paper, the Linear Exponential Quadratic Gaussian with Loop Transfer Recovery (LEQG/LTR) methodology is employed for the design of high performance induction motor servo systems. In addition, we design a speed sensorless induction motor vector controlled driver with both the extended Kalman filter and the LEQG/LTR algorithm. The experimental realization of an induction servo system is gi...

Conventionally, BLDC motors are commutated in six-step pattern with commutation controlled by position sensors. To reduce cost and complexity of the drive system, sensorless drive is preferred. The existing sensorless control scheme with the conventional back EMF sensing based on motor neutral voltage for BLDC has certain drawbacks, which limit its applications. This paper presents the dynamic ...