Safeness of a robot arm using ultrasonic motors with high responsiveness and backdrivability

T. Yamashita, T. Mashimo, N. Takesue, K. Terashima

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

1 Citation (Scopus)

Abstract

We propose a robot arm using ultrasonic motors and demonstrate its characteristics such as high responsiveness and backdrivability, which are important characteristics in the view of the safety. The high responsiveness allows the robots to avoid collision against any objects and backdrivability makes the robots have compliance to unexpected actions of people. In this paper, we clarify the responsiveness and backdrivability of the ultrasonic motors experimentally. For the demonstration, we build a prototype robot arm having three joints which are all directly coupled to the output axis of the ultrasonic motors. In the experiments, the robot showed the responsiveness less than a few milliseconds, torque control such as if torsion spring model, and the backdrivability as a free joint. We discuss the safety control strategy using these characteristics.

Original languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages28-33
Number of pages6
ISBN (Electronic)9781479969449
DOIs
Publication statusPublished - Jan 30 2014
Externally publishedYes
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: Dec 13 2014Dec 15 2014

Publication series

Name2014 IEEE/SICE International Symposium on System Integration, SII 2014

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
Country/TerritoryJapan
CityTokyo
Period12/13/1412/15/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

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