Characteristic analysis and design of a B14 rotary ultrasonic motor for a robot arm taking the contact mechanism into consideration

2007 ◽  
Vol 54 (4) ◽  
pp. 715-728 ◽  
Author(s):  
Jong-Seok Rho ◽  
Kwang-Il Oh ◽  
Hong-Seok Kim ◽  
Hyun-Kyo Jung
Keyword(s):  
Ultrasonic Motor ◽  
Robot Arm ◽  
Characteristic Analysis ◽  
Analysis And Design ◽  
Contact Mechanism

Design and characteristic analysis of L1B4 ultrasonic motor considering contact mechanism

2005 ◽  
Vol 52 (11) ◽  
pp. 2054-2064 ◽  
Author(s):  
Jong-Seok Rho ◽  
Byung-Jai Kim ◽  
Chang-Hwan Lee ◽  
Hyun-Woo Joo ◽  
Hyun-Kyo Jung
Keyword(s):  
Ultrasonic Motor ◽  
Characteristic Analysis ◽  
Contact Mechanism

Operator-Based Robust Nonlinear Control Analysis and Design for a Bio-Inspired Robot Arm with Measurement Uncertainties

2019 ◽  
Vol 31 (1) ◽  
pp. 104-109
Author(s):  
Aihui Wang ◽  
Zhengxiang Ma ◽  
Jianmin Luo ◽  
Keyword(s):  
Experimental Data ◽  
Sufficient Conditions ◽  
Control Analysis ◽  
Robot Arm ◽  
Factorization Approach ◽  
Motion Mechanism ◽  
Analysis And Design ◽  
Design Scheme ◽  
Nonlinear Tracking ◽  
Measurement Uncertainties

In this paper, a robust nonlinear tracking control design for a bio-inspired robot arm with human-like motion mechanism is investigated, and the bio-inspired operator controller based on human multi-joint viscoelastic properties is designed by using operator-based robust right coprime factorization approach. The motion mechanism of human multi-joint arm is used, and the measurement uncertainties of human multi-joint arm viscoelasticity are considered in designing bio-inspired operator controller. Based on the proposed design scheme, the sufficient conditions for the robust stability are derived in considering the coupling effects and measurement uncertainties, and the output tracking performance is realized. The effectiveness of the proposed design scheme was confirmed by the simulation results based on experimental data, and the time-varying estimated experimental data of human multi-joint arm viscoelasticity is used in simulation.

scholarly journals Micro ultrasonic motor for miniature robot arm

2017 ◽  
Vol 13 ◽  
pp. 127-131
Author(s):  
Shigeki Toyama ◽  
Uichi Nishizawa
Keyword(s):  
Ultrasonic Motor ◽  
Robot Arm ◽  
Miniature Robot
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