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Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor

  • A. Kato
  • N. Kondo
  • H. Narita
  • K. Ito
  • Z. W. Luo
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Abstract

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.

Keywords

Ultrasonic Motor Direct Drive Shaft Angle Torque Response Rotary Encoder 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1).
    N. Hogan Proc. of IEEE int. conf. Robotics and Information Vol. 2 1047–1054. (1987)Google Scholar
  2. 2).
    A. Kato, K. Ito, and M. Ito, “Compliance Control of Circular Traveling Wave Motor”, Proc. of IEEE IECON’91, 538–542, (1991).Google Scholar
  3. 3).
    A. Kato, K. Ito, and M. Ito, “Adjustable Compliant Motion of Ultrasonic Motor”, Journal of Robotics and Mechatronics Vol. 5 No. 5, (1993).Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • A. Kato
    • 1
  • N. Kondo
    • 1
  • H. Narita
    • 1
  • K. Ito
    • 2
  • Z. W. Luo
    • 2
  1. 1.Aichi Institute of TechnologyToyotaJapan
  2. 2.Toyohashi University of TechnologyToyohashiJapan

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