Abstract
A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multi-DOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering the frictional condition between the rotor/stator. Using the forward model, driving state of the multi-DOF ultrasonic motor under arbitrary combination of vibrations is clarified. Second, an inverse model of the multi-DOF ultrasonic motor is also developed. The inverse model is constructed using experienced knowledge about ultrasonic motor and neural network technique. An appropriate input for the multi-DOF ultrasonic motor with regard to arbitrary rotational axis is estimated using the inverse model. The proposed models are available not only for our motor but for all multi-DOF ultrasonic motors.
| Original language | English |
|---|---|
| Pages (from-to) | 2387-2392 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15 |
Keywords
- Multi-DOF
- Neural network
- Simulation
- Ultrasonic motor
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering