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]

Journal title :

IEEE Transactions on Haptics (ToH)

Pages :

327-331

Publisher :

IEEE

Publication date :

2011-07-09

ISSN :

1939-1412

English keyword(s) :

ultrasonic motor
haptic display
real-time control
Force feedback

HAL domain(s) :

Sciences de l'ingénieur [physics]/Energie électrique
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 >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL