抄録
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.
本文言語 | English |
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ページ | 2187-2192 |
ページ数 | 6 |
出版ステータス | Published - 2002 1月 1 |
イベント | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland 継続期間: 2002 9月 30 → 2002 10月 4 |
Other
Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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国/地域 | Switzerland |
City | Lausanne |
Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用