TY - GEN
T1 - Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers
AU - Mashimo, Tomoaki
AU - Awaga, Kosuke
AU - Toyama, Shigeki
PY - 2007
Y1 - 2007
N2 - We present a spherical ultrasonic motor (SUSM) and an attitude sensing system using optical fibers for the SUSM. The SUSM is constructed from three ring-shaped stators and a spherical rotor, and has three degrees of freedom (DOF). It has good responsiveness, high positioning accuracy, and strong magnetic field compatibility. In the attitude sensing system, a flat mirror is built in the spherical rotor. Light is emitted to the mirror, and the reflection is caught by optical fibers. The light intensities captured by the optical fibers are processed by a neural network and are converted to attitude information for the spherical rotor. We describe a system comprising the SUSM and the attitude sensing system with its design derived from mechanics and optics. The prototype SUSM is 26mm in diameter and was actuated by the attitude sensing system. Position errors with respect to x and y axes are less than 0.5°.
AB - We present a spherical ultrasonic motor (SUSM) and an attitude sensing system using optical fibers for the SUSM. The SUSM is constructed from three ring-shaped stators and a spherical rotor, and has three degrees of freedom (DOF). It has good responsiveness, high positioning accuracy, and strong magnetic field compatibility. In the attitude sensing system, a flat mirror is built in the spherical rotor. Light is emitted to the mirror, and the reflection is caught by optical fibers. The light intensities captured by the optical fibers are processed by a neural network and are converted to attitude information for the spherical rotor. We describe a system comprising the SUSM and the attitude sensing system with its design derived from mechanics and optics. The prototype SUSM is 26mm in diameter and was actuated by the attitude sensing system. Position errors with respect to x and y axes are less than 0.5°.
KW - Attitude sensing
KW - Geometrical optics
KW - Neural network
KW - Spherical ultrasonic motor
UR - http://www.scopus.com/inward/record.url?scp=36348950341&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348950341&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364167
DO - 10.1109/ROBOT.2007.364167
M3 - Conference contribution
AN - SCOPUS:36348950341
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4466
EP - 4471
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -