Control of multi-DOF ultrasonic motor using neural network based inverse model

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

11 Citations (Scopus)

Abstract

A multi-DOF ultrasonic motor developed by the authors is capable of generating multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, light weight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, an inverse model of the multi-DOF ultrasonic motor is developed using our prior knowledge in ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of driving characteristics. Second, a novel control method using the inverse model is proposed. Then, motion control tests are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2187-2192
Number of pages6
Volume3
Publication statusPublished - 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

Fingerprint

Ultrasonics
Neural networks
Motion control
Rotors
Stators
Vibrations (mechanical)
Redundancy

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Takemura, K., & Maeno, T. (2002). Control of multi-DOF ultrasonic motor using neural network based inverse model. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2187-2192)

Control of multi-DOF ultrasonic motor using neural network based inverse model. / Takemura, Kenjiro; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2002. p. 2187-2192.

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

Takemura, K & Maeno, T 2002, Control of multi-DOF ultrasonic motor using neural network based inverse model. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 2187-2192, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 02/9/30.
Takemura K, Maeno T. Control of multi-DOF ultrasonic motor using neural network based inverse model. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2002. p. 2187-2192
Takemura, Kenjiro ; Maeno, Takashi. / Control of multi-DOF ultrasonic motor using neural network based inverse model. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2002. pp. 2187-2192
@inproceedings{8f7676e1fde54f2c9ff4ff04503be522,
title = "Control of multi-DOF ultrasonic motor using neural network based inverse model",
abstract = "A multi-DOF ultrasonic motor developed by the authors is capable of generating multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, light weight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, an inverse model of the multi-DOF ultrasonic motor is developed using our prior knowledge in ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of driving characteristics. Second, a novel control method using the inverse model is proposed. Then, motion control tests are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.",
author = "Kenjiro Takemura and Takashi Maeno",
year = "2002",
language = "English",
volume = "3",
pages = "2187--2192",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Control of multi-DOF ultrasonic motor using neural network based inverse model

AU - Takemura, Kenjiro

AU - Maeno, Takashi

PY - 2002

Y1 - 2002

N2 - A multi-DOF ultrasonic motor developed by the authors is capable of generating multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, light weight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, an inverse model of the multi-DOF ultrasonic motor is developed using our prior knowledge in ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of driving characteristics. Second, a novel control method using the inverse model is proposed. Then, motion control tests are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.

AB - A multi-DOF ultrasonic motor developed by the authors is capable of generating multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, light weight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, an inverse model of the multi-DOF ultrasonic motor is developed using our prior knowledge in ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of driving characteristics. Second, a novel control method using the inverse model is proposed. Then, motion control tests are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.

UR - http://www.scopus.com/inward/record.url?scp=0036448817&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036448817&partnerID=8YFLogxK

M3 - Conference contribution

VL - 3

SP - 2187

EP - 2192

BT - IEEE International Conference on Intelligent Robots and Systems

ER -