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

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI:10.1109/IROS.2001.976363

K. Takemura, Dai Harada, Takashi Maeno

{"title":"A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics","authors":"K. Takemura, Dai Harada, Takashi Maeno","doi":"10.1109/IROS.2001.976363","DOIUrl":null,"url":null,"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.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2001.976363","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 5

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.

查看原文本刊更多论文

考虑实测和仿真的驱动特性，设计了一种多自由度超声电机主从系统及其控制器

需要建造主从式主动机械手和内窥镜，以提供像人的手和眼睛一样灵巧的操作和广阔的视野。我们已经研制出一种由球形转子和条形定子组成的多自由度超声电机。转子利用定子的三种固有振动模式围绕三个垂直轴旋转。本文研究了一种基于多自由度超声电机的多自由度单边主从系统。系统的主从臂具有相似的配置，因此操作员可以很容易地处理主从系统。首先，对多自由度超声电机的驱动特性进行了实验和分析，从而设计了从臂及其控制器。其次，设计了主从臂和主从系统的单边反馈控制器。最后，对系统进行了运动控制测试，验证了主从系统的适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

自引率

0.00%

发文量