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PLSI 위상차 제어기에 의한 초음파 모터의 점탄성 특성
김동옥,김원배,성도생,고낙용,최한수,김영동 조선대학교 생산기술연구소 1996 生産技術硏究 Vol.18 No.1
As an actuator for direct drive(DD) manipulator. the travelling-wave type ultrasonic motor(USM) has many excellent performances and good advantages over conventional servo motors such as compact size, light weight, silent motion, low rotation-speed, high torque, low magnetic noise, high speed response, flexible free forms, large holding torque and so on. So it has been expected to be used as servo motor. This paper presents a design method of USM controller to adjust the phase difference of USM power using PLSI (Programmable Large Scale Intersration). we can control the elastic coefficient and the viscous coefficient of the USM by adjusting the phase difference of the motor power. By controlling the elasticity and viscosity, a robot can work in compliance with external environment. To use the result, we will be able to control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM and to make cooperative robots.
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초음파 모터를 사용한 DD 매니퓰레이터의 컴플라이언스 제어
김동옥(Dong-Ok Kim),신덕(Duck Sin),김원배(Won-Bae Sung),성도생(Do-Saing Sung),김영동(Young-Dong Kim) 전력전자학회 1996 전력전자학술대회 논문집 Vol.1996 No.-
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, s1lent 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 joints 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 remams for further research to develop the impedance control of USM.
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