Single-axis arm designed with an ultrasonic motor

Basic active/passive joint torque control

Fusaomi Nagata, Keisuke Ogiwara, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. 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, longevity and so on. In this chapter, 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 or 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 with holding torque, a torque control system and a passive torque control system are proposed and their characteristics are evaluated. Here, the passive torque control includes a stiffness control, a compliance control and an impedance control.

Original languageEnglish
Title of host publicationMechatronics and Manufacturing Engineering: Research and Development
PublisherElsevier Ltd.
Pages99-113
Number of pages15
ISBN (Print)9780857091505
DOIs
Publication statusPublished - 2012

Fingerprint

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

Keywords

  • Assist device
  • Compliance control
  • Holding torque
  • Servo system
  • Single-axis arm
  • Torque control
  • Ultrasonic motor

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nagata, F., Ogiwara, K., & Watanabe, K. (2012). Single-axis arm designed with an ultrasonic motor: Basic active/passive joint torque control. In Mechatronics and Manufacturing Engineering: Research and Development (pp. 99-113). Elsevier Ltd.. https://doi.org/10.1016/B978-0-85709-150-5.50003-0

Single-axis arm designed with an ultrasonic motor : Basic active/passive joint torque control. / Nagata, Fusaomi; Ogiwara, Keisuke; Watanabe, Keigo.

Mechatronics and Manufacturing Engineering: Research and Development. Elsevier Ltd., 2012. p. 99-113.

Research output: Chapter in Book/Report/Conference proceedingChapter

Nagata, F, Ogiwara, K & Watanabe, K 2012, Single-axis arm designed with an ultrasonic motor: Basic active/passive joint torque control. in Mechatronics and Manufacturing Engineering: Research and Development. Elsevier Ltd., pp. 99-113. https://doi.org/10.1016/B978-0-85709-150-5.50003-0
Nagata F, Ogiwara K, Watanabe K. Single-axis arm designed with an ultrasonic motor: Basic active/passive joint torque control. In Mechatronics and Manufacturing Engineering: Research and Development. Elsevier Ltd. 2012. p. 99-113 https://doi.org/10.1016/B978-0-85709-150-5.50003-0
Nagata, Fusaomi ; Ogiwara, Keisuke ; Watanabe, Keigo. / Single-axis arm designed with an ultrasonic motor : Basic active/passive joint torque control. Mechatronics and Manufacturing Engineering: Research and Development. Elsevier Ltd., 2012. pp. 99-113
@inbook{2fddeda789db4b0eb5d18d925cc52a25,
title = "Single-axis arm designed with an ultrasonic motor: Basic active/passive joint torque control",
abstract = "This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. 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, longevity and so on. In this chapter, 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 or 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 with holding torque, a torque control system and a passive torque control system are proposed and their characteristics are evaluated. Here, the passive torque control includes a stiffness control, a compliance control and an impedance control.",
keywords = "Assist device, Compliance control, Holding torque, Servo system, Single-axis arm, Torque control, Ultrasonic motor",
author = "Fusaomi Nagata and Keisuke Ogiwara and Keigo Watanabe",
year = "2012",
doi = "10.1016/B978-0-85709-150-5.50003-0",
language = "English",
isbn = "9780857091505",
pages = "99--113",
booktitle = "Mechatronics and Manufacturing Engineering: Research and Development",
publisher = "Elsevier Ltd.",

}

TY - CHAP

T1 - Single-axis arm designed with an ultrasonic motor

T2 - Basic active/passive joint torque control

AU - Nagata, Fusaomi

AU - Ogiwara, Keisuke

AU - Watanabe, Keigo

PY - 2012

Y1 - 2012

N2 - This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. 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, longevity and so on. In this chapter, 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 or 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 with holding torque, a torque control system and a passive torque control system are proposed and their characteristics are evaluated. Here, the passive torque control includes a stiffness control, a compliance control and an impedance control.

AB - This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. 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, longevity and so on. In this chapter, 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 or 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 with holding torque, a torque control system and a passive torque control system are proposed and their characteristics are evaluated. Here, the passive torque control includes a stiffness control, a compliance control and an impedance control.

KW - Assist device

KW - Compliance control

KW - Holding torque

KW - Servo system

KW - Single-axis arm

KW - Torque control

KW - Ultrasonic motor

UR - http://www.scopus.com/inward/record.url?scp=84904224765&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84904224765&partnerID=8YFLogxK

U2 - 10.1016/B978-0-85709-150-5.50003-0

DO - 10.1016/B978-0-85709-150-5.50003-0

M3 - Chapter

SN - 9780857091505

SP - 99

EP - 113

BT - Mechatronics and Manufacturing Engineering: Research and Development

PB - Elsevier Ltd.

ER -