The implementation and control of a multi-DOF robot driven by the ultrasonic motors

摘要：

The ultrasonic motors (USMs) are expected to be ideal drivers for the space robots.To investigate the performance of such robots,a 3-DOF robot driven by the USMs has been implemented,the control hardware system for this robot has been built,which is of the configuration that a personal computer is used as the main controller and a DSP serves as the sub-controller.The control software of hierarchical architecture for the 3-DOF robot has been planned and programmed.It is shown by experiments that the 3-DOF robot can implement tracking and point to point control with high precision and no joints dithering.

关键词： ultrasonic motor mechanism hardware configuration software planning control

作者: Honglin He Jinsong Zeng Yufang Long Chunsheng Zhao

作者单位: College of Aeronautical & Mechanical Engineering,Nanchang Hangkong University,Nanchang,China Precision Driving Laboratory,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China

会议类型: 国际会议

会议名称: The 4th International Workshop on Piezoelectric Materials and Applications in Actuators(第四届国际压电材料及其在作动器上的应用研讨会)

会议地点: 南京

会议语种:英文

页码: 289-294

在线出版日期: 2007-09-09（万方平台首次上网日期，不代表论文的发表时间）