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Related Experiment Video

Updated: Jan 22, 2026

The Impact of Motor Task Conditions on Goal-Directed Arm Reaching Kinematics and Trunk Compensation in Chronic Stroke Survivors
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A Sensorless and Low-Gain Brushless DC Motor Controller Using a Simplified Dynamic Force Compensator for Robot Arm

Shih-Hsiang Yen1, Pei-Chong Tang2, Yuan-Chiu Lin2

  • 1Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan.

Sensors (Basel, Switzerland)
|July 21, 2019
PubMed
Summary

This study introduces a low-gain, sensorless Brushless DC motor control architecture for service robots, enhancing safety and reducing costs. The new system improves control response and accuracy using Hall-effect sensors and dynamic force compensation.

Keywords:
Hall-effect sensorsdynamic compensatorlow-gain controllow-pass filterreal-time controlsensorless

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Service robots require safe human-machine interaction, necessitating minimized control gain to limit force output.
  • Cost-efficiency in service robots often leads to using low-resolution sensors, which can degrade control system response and accuracy.
  • Existing control systems face challenges balancing safety, cost, and performance due to sensor limitations.

Purpose of the Study:

  • To propose a novel low-gain, sensorless Brushless DC motor control architecture for service robot applications.
  • To enhance the safety and cost-effectiveness of robot arms by minimizing reliance on high-precision sensors.
  • To improve the response speed and accuracy of closed-loop control systems despite using low-resolution sensors.

Main Methods:

  • Implemented a sensorless control architecture using only Hall-effect and current sensors for position and torque control.
  • Integrated low-pass filters within servo controllers to mitigate undersampling and noise issues.
  • Introduced a dynamic force compensator into current controllers and simplified the system model to accelerate response and calculation.

Main Results:

  • Achieved real-time current compensation, significantly accelerating control response and improving accuracy.
  • Validated the effectiveness of simplified dynamic force compensators on a seven-axis robot arm.
  • Demonstrated that the sensorless drivers and compensators meet required performance standards while reducing system cost.

Conclusions:

  • The proposed sensorless control architecture effectively balances safety, cost reduction, and performance for service robot applications.
  • Simplified dynamic force compensation is a viable method for enhancing the speed and accuracy of low-gain robot control systems.
  • This approach offers a practical solution for developing more affordable and responsive service robots.