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

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.
Type de document :
Article dans une revue
Haptics, IEEE Transactions on, IEEE, 2011, pp.327-331. 〈10.1109/TOH.2011.20〉
Liste complète des métadonnées

Littérature citée [11 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00642523
Contributeur : Frédéric Giraud <>
Soumis le : mercredi 28 janvier 2015 - 18:21:36
Dernière modification le : jeudi 11 janvier 2018 - 06:23:15
Document(s) archivé(s) le : mercredi 29 avril 2015 - 11:26:13

Fichier

TOH_short_digi_new.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Frédéric Giraud, Paul Sandulescu, Michel Amberg, Betty Lemaire-Semail, Fiorin Ionescu. Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor. Haptics, IEEE Transactions on, IEEE, 2011, pp.327-331. 〈10.1109/TOH.2011.20〉. 〈hal-00642523〉

Partager

Métriques

Consultations de la notice

196

Téléchargements de fichiers

521