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
相关论文
共 50 条
  • [21] Nonholonomic control of a three-DOF planar underactuated manipulator
    Arai, H
    Tanie, K
    Shiroma, N
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (05): : 681 - 695
  • [22] Development and Structure of Multi-DOF Spherical Induction Motor
    Yan, Liang
    Duan, Zihao
    Zhang, Qiongfang
    Qiao, Hongkai
    Gerada, Christopher
    [J]. PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018), 2018, : 2831 - 2835
  • [23] A ring-type multi-DOF ultrasonic motor with four feet driving consistently
    Shi, Shengjun
    Xiong, Huaiyin
    Liu, Yingxiang
    Chen, Weishan
    Liu, Junkao
    [J]. ULTRASONICS, 2017, 76 : 234 - 244
  • [24] Ellipse declining angle and the contact angle of a cylinder type multi-DOF ultrasonic motor
    Li, Zhirong
    [J]. Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2007, 18 (22): : 2656 - 2658
  • [25] Design and Multipoint Control of an Bar-Shaped Multi-DOF Ultrasonic Actuator
    Zhou, Xiangyu
    Liu, Junkao
    Chen, Weishan
    [J]. 2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), 2014, : 447 - 451
  • [26] Design and control of three-DOF dielectric polymer actuator
    Koo, JC
    Choi, HR
    Jung, MY
    Jung, KM
    Nam, JD
    Lee, YK
    [J]. ADVANCES IN FRACTURE AND STRENGTH, PTS 1- 4, 2005, 297-300 : 665 - 670
  • [27] Intelligent control of a three-DOF planar underactuated manipulator
    Duong, Sam
    Kinjo, Hiroshi
    Uezato, Eiho
    Yamamoto, Tetsuhiko
    [J]. ARTIFICIAL LIFE AND ROBOTICS, 2009, 14 (02) : 284 - 288
  • [28] Optimized friction drive controller for a multi-DOF ultrasonic nanopositioner
    Ferreira, A
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2004, 9 (03) : 481 - 490
  • [29] Optimized friction drive controller for a Multi-DOF ultrasonic nanopositioner
    Ferreira, A
    Fontaine, JG
    [J]. PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2, 2003, : 1315 - 1320
  • [30] Motion Analysis and Control of The Hybrid Multi-DOF Motor with Taking Account on Design of Motor Shape
    Park, H.
    Hong, H.
    Oh, Y.
    Lee, J.
    Lee, J.
    [J]. 2015 IEEE MAGNETICS CONFERENCE (INTERMAG), 2015,
12345