Development of spherical ultrasonic motor as a camera actuator for pipe inspection robot

Masahiko Hoshina, Tomoaki Mashimo, Shigeki Toyama

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

38 Citations (Scopus)

Abstract

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speeds were changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUSM showed the returnability to the default position from several specified points, within an accuracy of 1°.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2379-2384
Number of pages6
DOIs
Publication statusPublished - Dec 11 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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