An evaluation of Ultrasonic motors as driving technology in impedance controlled robots

Jose L Pons*, H. Rodríguez, E. Rocon

*Corresponding author for this work

Research output: Contribution to journalConference article

Abstract

The present paper address the analysis of Ultrasonic motors, UM, as driving technology in impedance controlled robotic manipulators. A focus is given on rehabilitation robotics as an emerging field in which impedance controlled approaches are more suited. The article gives some general remarks on impedance control, briefly introduces a UM driven miniature SCARA robot and describes a model of the manipulator and UM that serves the goal of gaining insight in the expected behavior of the controlled system. The experimental results and evaluation of UM as driving technology make use of a set of figures of merit previously defined. Eventually, some concluding remarks are given.

Original languageEnglish (US)
Pages (from-to)4065-4070
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number4
StatePublished - Jul 5 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

Keywords

  • Impedance control
  • Ultrasonic motors

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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