Modeling and Compensation of the Internal ...
Document type :
Article dans une revue scientifique
DOI :
Permalink :
Title :
Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
Author(s) :
Giraud, Frédéric [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Sandulescu, Paul [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Amberg, Michel [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Semail, Betty [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Ionescu, Fiorin [Auteur]
University of Bucharest [UniBuc]

Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Sandulescu, Paul [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Amberg, Michel [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Semail, Betty [Auteur]

Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Methods and tools for gestural interactions [MINT]
Ionescu, Fiorin [Auteur]
University of Bucharest [UniBuc]
Journal title :
IEEE Transactions on Haptics (ToH)
Volume number :
4
Pages :
327-331
Publisher :
IEEE
Publication date :
2011-07-09
ISSN :
1939-1412
English keyword(s) :
real-time control
Force feedback
ultrasonic motor
haptic display
Force feedback
ultrasonic motor
haptic display
HAL domain(s) :
Sciences de l'ingénieur [physics]/Energie électrique
Informatique [cs]/Interface homme-machine [cs.HC]
Informatique [cs]/Interface homme-machine [cs.HC]
English abstract : [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 ...
Show more >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.Show less >
Show more >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.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Research team(s) :
Équipe Commande
Submission date :
2020-05-15T14:09:13Z
2022-03-15T15:06:02Z
2022-03-15T15:06:02Z
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- https://hal.inria.fr/hal-00642523/document
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