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

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.

The low-cost remote steering control using the dc motor with feedback position

“…The mathematical model equation of the DC motor is using MATLAB program for analysis. The block diagram of the transfer function is using MATLAB/Simulink [14], [15] to evaluate, test, and verify the correctness of DC motor characteristics. The equipment installation results, test simulation, and a real remote steering control system test can be described as the following topics.…”

“…The open-loop transfer function of the DC motor without load attracted relating the input voltage to the motor shaft output angle is given by (14).…”