Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor.
Identifieur interne : 00B111 ( Main/Merge ); précédent : 00B110; suivant : 00B112Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor.
Auteurs : F. Giraud ; P. Sandulescu ; M. Amberg ; B. Lemaire-Semail ; F. IonescuSource :
- IEEE transactions on haptics [ 1939-1412 ]
English descriptors
Abstract
This paper deals with the control and experimentation of a one-degree-of-freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a force-feedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.
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DOI: 10.1109/TOH.2011.20
PubMed: 26963660
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pubmed:26963660Le document en format XML
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Nord Europe</orgName><desc><address><addrLine>Parc Scientifique de la Haute Borne 40, avenue Halley Bât.A, Park Plaza 59650 Villeneuve d'Ascq</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/lille/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300041" type="direct"><org type="institution" xml:id="struct-300041" status="VALID"><orgName>IRCICA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Ionescu, Fiorin" sort="Ionescu, Fiorin" uniqKey="Ionescu F" first="Fiorin" last="Ionescu">Fiorin Ionescu</name><affiliation wicri:level="1"><hal:affiliation type="institution" xml:id="struct-302604" status="VALID"><orgName>University of Bucharest</orgName><desc><address><country key="RO"></country></address></desc></hal:affiliation><country>Roumanie</country></affiliation></author></analytic><idno type="DOI">10.1109/TOH.2011.20</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Force feedback</term><term>haptic display</term><term>real-time control</term><term>ultrasonic motor</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.</div></front></TEI></HAL><PubMed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor.</title><author><name sortKey="Giraud, F" sort="Giraud, F" uniqKey="Giraud F" first="F" last="Giraud">F. Giraud</name></author><author><name sortKey="Sandulescu, P" sort="Sandulescu, P" uniqKey="Sandulescu P" first="P" last="Sandulescu">P. Sandulescu</name></author><author><name sortKey="Amberg, M" sort="Amberg, M" uniqKey="Amberg M" first="M" last="Amberg">M. Amberg</name></author><author><name sortKey="Lemaire Semail, B" sort="Lemaire Semail, B" uniqKey="Lemaire Semail B" first="B" last="Lemaire-Semail">B. Lemaire-Semail</name></author><author><name sortKey="Ionescu, F" sort="Ionescu, F" uniqKey="Ionescu F" first="F" last="Ionescu">F. Ionescu</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2011 Jul-Aug</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2011.20</idno><idno type="RBID">pubmed:26963660</idno><idno type="pmid">26963660</idno><idno type="wicri:Area/PubMed/Corpus">000E35</idno><idno type="wicri:Area/PubMed/Curation">000E35</idno><idno type="wicri:Area/PubMed/Checkpoint">002316</idno><idno type="wicri:Area/Ncbi/Merge">004060</idno><idno type="wicri:Area/Ncbi/Curation">004060</idno><idno type="wicri:Area/Ncbi/Checkpoint">004060</idno><idno type="wicri:doubleKey">1939-1412::Giraud F:modeling:and:compensation</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor.</title><author><name sortKey="Giraud, F" sort="Giraud, F" uniqKey="Giraud F" first="F" last="Giraud">F. Giraud</name></author><author><name sortKey="Sandulescu, P" sort="Sandulescu, P" uniqKey="Sandulescu P" first="P" last="Sandulescu">P. Sandulescu</name></author><author><name sortKey="Amberg, M" sort="Amberg, M" uniqKey="Amberg M" first="M" last="Amberg">M. Amberg</name></author><author><name sortKey="Lemaire Semail, B" sort="Lemaire Semail, B" uniqKey="Lemaire Semail B" first="B" last="Lemaire-Semail">B. Lemaire-Semail</name></author><author><name sortKey="Ionescu, F" sort="Ionescu, F" uniqKey="Ionescu F" first="F" last="Ionescu">F. Ionescu</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="ISSN">1939-1412</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper deals with the control and experimentation of a one-degree-of-freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a force-feedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.</div></front></TEI></PubMed></double></record>Pour manipuler ce document sous Unix (Dilib)
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