A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system using the multi-DOF ultrasonic motor is developed. Master and slave arms for the system have similar configurations, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are clarified experimentally and analytically in order to design the slave arm and its controller. Next, the master-slave arms and the unilateral feedback controller for the master-slave system are developed. Finally, the motion control tests of the system are performed to show the applicability of the master-slave system.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1977-1982
Number of pages6
Volume4
Publication statusPublished - 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Ultrasonics
Controllers
Stators
Rotors
Endoscopy
Motion control
End effectors
Robots
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Takemura, K., Harada, D., & Maeno, T. (2001). A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 1977-1982)

A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics. / Takemura, Kenjiro; Harada, Dai; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2001. p. 1977-1982.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Takemura, K, Harada, D & Maeno, T 2001, A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics. in IEEE International Conference on Intelligent Robots and Systems. vol. 4, pp. 1977-1982, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 01/10/29.
Takemura K, Harada D, Maeno T. A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics. In IEEE International Conference on Intelligent Robots and Systems. Vol. 4. 2001. p. 1977-1982
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