1993 Fiscal Year Final Research Report Summary

Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor

Research Project

Project/Area Number	04650388
Research Category	Grant-in-Aid for General Scientific Research (C)
Allocation Type	Single-year Grants
Research Field	計測・制御工学
Research Institution	AICHI INSTITUTE OF TECHNOLOGY
Principal Investigator	KATO Atsuo Aichi Institute of Technology, Professor, 工学部, 教授 (40064935)
Co-Investigator(Kenkyū-buntansha)	ITO Koji Toyohashi University of Technology. Professor, 工学部, 教授 (30023310)
Project Period (FY)	1992 – 1993
Keywords	Ultrasonic Motor / Compliance Control / Direct Drive Manipulator / Contact Task / Phase Control
Research Abstract	A traveling wave ultrasonic Motor has many good characteristics for a direct drive manipulator, that is, compact size, silent motion, low speed rotation, and magnetic field no-affected. We developed an adjustable conpliance actuator system by the digital control techniques for the ultrasonic motor. The system acts like a spring and a damper whose spring constant and the damping factor are able to adjust freely by the computer commands. Then we made a direct drive manipulator using the actuator system. The manipulator moves compliantly in the contact tasks, and realized the smooth crank rotation tasks. Now, we try realizing the co-operative motion using two direct drive manipulators.

(4 results)