28595 articles – 22087 references  [version française]

hal-00642523, version 1

Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor

Frédéric Giraud () 1, 2, Paul Sandulescu 2, Betty Semail a, 1, 2, Michel Amberg 1, 2, Fiorin Ionescu b

Haptics, IEEE Transactions on, 4 (2011) 327-331

Abstract: This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.

  • a –  Université des Sciences et Technologies de Lille - Lille I
  • b –  University Polytechnica of Bucharest
  • 1:  MINT (INRIA Lille - Nord Europe)
  • INRIA – CNRS : UMR8022 – Université Lille I - Sciences et technologies – IRCICA
  • 2:  Laboratoire d'électrotechnique et d'électronique de puissance (L2EP) (L2EP)
  • Université Lille I - Sciences et technologies – Arts et Métiers ParisTech – Ecole Centrale de Lille – Haute Etude d'Ingénieurs
  • Domain : Engineering Sciences/Electric power
    Computer Science/Human-Computer Interaction
  • Keywords : Force feedback – real-time control – haptic display – ultrasonic motor
 
  • hal-00642523, version 1
  • http://hal.inria.fr/hal-00642523
  • oai:hal.inria.fr:hal-00642523
  • From: Frédéric Giraud <>
  • Submitted on: Friday, 18 November 2011 11:14:07
  • Updated on: Friday, 18 November 2011 11:14:07