Development of pipe inspection robot; driving system and control of outer-rotor-typed spherical ultrasonic motor

Masahiko Hoshina, Tomoaki Mashimo, Shigeki Toyama

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

5 Citations (Scopus)

Abstract

In this paper we present a driving system and control method of newly developed spherical ultrasonic motor (SUSM) as a camera actuator for pipe inspection robot. The pipe inspection robot using SUSM that is very small actuator with three rotational degrees of freedom (DOF) can be inserted to the inside of pipe of 50 mm in diameter. The novel SUSM has improved the range of movement compared to previous SUSM and the robot can point a camera in any direction. The compact motor driving circuit which can be inserted in pipe was also developed. We determined a method of rotational direction and control strategy from the kinematics and characteristics of ultrasonic motor. The rotational directions were defined by the phase differences of applied voltages, and the rotational speed were changed by the frequencies from the driving circuit. In the control experiment using a small position sensing system using rotary potentiometers, the driving system composed of SUSM, driving circuit, and the sensing system have shown the returnability to the default position within 1 degree of accuracy from several specified points.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009
Externally publishedYes
Event2009 International Conference on Advanced Robotics, ICAR 2009 - Munich, Germany
Duration: Jun 22 2009Jun 26 2009

Publication series

Name2009 International Conference on Advanced Robotics, ICAR 2009

Conference

Conference2009 International Conference on Advanced Robotics, ICAR 2009
Country/TerritoryGermany
CityMunich
Period6/22/096/26/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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