Position And Speed Control Of Traveling Wave Ultrasonic Motor And Its Application In Robot Joint With Multi-DOF

Robot joint with multi-degree-of-freedom (multi-DOF) is the hotspot and difficulty in robot technique field. Traditional robot joints with multi-DOF usually have complex structures and are hard to make and fix, while globular motors with multi-DOF, which are still in researching period, can still not meet the request of application. This paper researches into a new-style robot joint with multi-DOF, which is brought forward by Prof. FENG Hao in 2002. To meet the request of low speed, high torque and self-lock feature, we use ultrasonic motor (USM) as the driver of the joint, which makes the realization of the joint become possible, simplify the structure and improve precision.USMs have the following features: quick response speed, small cubage, high torque, low speed, high holding torque when power is off and so on. But the indeterminacy of USMs' mathematic model makes position and speed control more difficult. This paper makes experiments of running character, speed adjusting character, transient character and...