Fast three-DOF control for multi-DOF ultrasonic servo motor by Online adaptation

被引：2
|
作者：
Kawano, H [1 ]
Ando, H [1 ]
Hirahara, T [1 ]
机构：
[1] NTT Corp, Commun Sci Lab, Atsugi, Kanagawa, Japan
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
multi-DOF ultrasonic motor; pre-loading; multi-DOF control; feed forward control; feedback error learning;
D O I：
10.1109/ROBOT.2004.1307531
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A multi degree of freedom (DOF) ultrasonic motor can rotate in three degrees of freedom and does not generate noise. In addition, it generates high torque with an appropriate pre-loading mechanism. This motor is therefore anticipated for use as a servomotor in robots in the next generation. This paper proposes a pre-loading mechanism and control algorithm for the multi-DOF ultrasonic motor for its application to an actual auditory tele-existence robot, TeleHead. The proposed methods realize fast multi-DOF rotating motion with little time delay. The pre-loading method generates pre-loading force by using tensioned springs, and compensates for the torque generated by the weight load on the motor by using these springs and a counter weight. The control algorithm uses feed forward control based on online feedback error learning. Experimental results show the high performance of these proposed methods.
引用
收藏
页码：3087 / 3092
页数：6
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