Basic position/force control of single-axis arm designed with an ultrasonic motor

K. Ogiwara, F. Nagata, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Recently, many studies on assist robots are being conducted, in which the development of a unique system is required to support aged persons, physically handicapped persons and/or caretakers. One of the representative systems is called the assist suit and is partly practiced. The assist suit is a mechatronics device which can assist physical human actions. However, the current assist suit has a few problems with respect to cost, size, weight, long-time run and soon. In this article, a fundamental study concerning a compact assist device is conducted. Where the assist device supports is one spot on the body such as a knee, an elbow and a shoulder. First of all, a simple single-axis arm is designed by using an ultrasonic motor which can generate high torque from a low velocity range. Then, a servo system, a torque control system and a passive torque control system are applied and their characteristics are evaluated. Here, the passive torque control includes a stiffness control and a compliance control.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages383-386
Number of pages4
Publication statusPublished - 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

Fingerprint

Torque control
Force control
Position control
Ultrasonics
Compliance control
Control systems
Mechatronics
Servomechanisms
Torque
Stiffness
Robots
Costs

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Ogiwara, K., Nagata, F., & Watanabe, K. (2011). Basic position/force control of single-axis arm designed with an ultrasonic motor. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 383-386)

Basic position/force control of single-axis arm designed with an ultrasonic motor. / Ogiwara, K.; Nagata, F.; Watanabe, Keigo.

Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 383-386.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ogiwara, K, Nagata, F & Watanabe, K 2011, Basic position/force control of single-axis arm designed with an ultrasonic motor. in Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. pp. 383-386, 16th International Symposium on Artificial Life and Robotics, AROB '11, Beppu, Oita, Japan, 1/27/11.
Ogiwara K, Nagata F, Watanabe K. Basic position/force control of single-axis arm designed with an ultrasonic motor. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 383-386
Ogiwara, K. ; Nagata, F. ; Watanabe, Keigo. / Basic position/force control of single-axis arm designed with an ultrasonic motor. Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. pp. 383-386
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