抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 2387-2392 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 3 |
| 出版ステータス | Published - 2002 1月 1 |
| イベント | 2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States 継続期間: 2002 5月 11 → 2002 5月 15 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学