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

机译：超声波电机驱动的多自由度机器人的实现与控制

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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.

机译：超声波电机有望成为太空机器人的理想驱动器。为了研究此类机器人的性能，已实现了由USM驱动的三自由度机器人，并构建了该机器人的控制硬件系统，它的配置是将个人计算机用作主控制器，而DSP作为子控制器。已经设计并编写了用于3-DOF机器人的分层体系结构的控制软件。通过实验表明，这3个机器人-DOF机器人可以实现高精度的跟踪和点对点控制，并且不会出现关节抖动。

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来源
《Proceedings of 4th International Workshop on Piezoelectric Materials and Applications in Actuators》|2007年|289-294|共6页
会议地点 Nanjing(CN)
作者
CHEN Dawei; rnFANG Dongping; rnZHOU Jianliang;
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作者单位

Honglin He@College of Aeronautical Mechanical Engineering,Nanchang Hangkong University,Nanchang,China--Jinsong Zeng@Precision Driving Laboratory,Nanjing University of Aeronautics Astronautics,Nanjing 210016,China--Yufang Long@College of Aeronautical Mechanical Engineering,Nanchang Hangkong University,Nanchang,China--Chunsheng Zhao@Precision Driving Laboratory,Nanjing University of Aeronautics Astronautics,Nanjing 210016,China--;

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原文格式 PDF
正文语种 eng
中图分类压电陶瓷材料;
关键词
ultrasonic motor; mechanism; hardware configuration; software planning; control;

机译：超声波马达;机构;硬件配置;软件规划;控制;

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2. Method for Controlling Multi-DOF Ultrasonic Motor Using Neural Network [J] . Kenjiro Takemura, Takashi Maeno Journal of robotics and mechatronics . 2003,第2期

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机译：用神经网络控制多自由度超声波电动机的方法

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

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