Proceedings of the KIPE Conference (전력전자학회:학술대회논문집)
- 1996.06a
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- Pages.47-51
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- 1996
Compliance Control of DD Manipulator using Ultrasonic Motor
초음파 모터를 사용한 DD 매니퓰레이터의 컴플라이언스 제어
- Kim, Dong-Ok (Cho-Sun University) ;
- Sin, Duck (Cho-Sun University) ;
- Kim, Won-Bae (Song-Won Junior. College) ;
- Sung, Do-Saing (Kwangju Masters' College) ;
- Kim, Young-Dong (Cho-Sun University)
- 김동옥 (조선대학교 제어계측공학과) ;
- 신덕 (조선대학교 제어계측공학과) ;
- 김원배 (송원전문대학 전기과) ;
- 성도생 (광주기능대학 산업설비과) ;
- 김영동 (조선대학교 제어계측공학과)
- Published : 1996.06.01
Abstract
In this paper, we propose a method for compliance control of a SCARA type 2-freedom direct drive(DD) manipulator. Each joint of the manipulator is driven by a travelling ultrasonic motor(USM). The travelling USM has good some characteristics over conventional servo motors such as compact size, light weight, silent motion, high torque and high speed response. By controlling the elasticity and viscosity of robot joints, a robot can work in compliance with external environment. we control the elastic coefficient and the viscous coefficient of joint by adjusting the phase difference of the motor power. And we contemplate transient response of USM with adjusting the elastic coefficient and the viscous coefficient. To use the result, we can control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM.
Keywords