Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor
A compact size light weight direct drive(DD) manipulator with traveling wave ultrasonic motors (USMs) as actuators was developed. Contact tasks1) were realized by adapting an adjustable compliance control system of the USM. In the system, a torque feedback control by interaction force to environment is not used. Experiments on contact tasks like crank rotation and cooperative motion of two manipulators were observed.
KeywordsUltrasonic Motor Direct Drive Shaft Angle Torque Response Rotary Encoder
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