超声电机驱动多关节机器人位置精确控制

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Accurate Position Control of Multiple Joint Robot Driven by Ultrasonic Motors

SUN Zhi-jun1, XING Ren-tao1, ZHAO Chun-sheng2 ,HUANG Wei-qing2

1 College of Mechanical and Electrical Engineering，Nanjing University of Aeronautics & Astronautics, Nanjing 210016，China；

2 Precision Driving Laboratory, Nanjing University of Aeronautics & Astronautics, Nanjing 210016，China

Received:2007-03-30 Revised:2007-06-12 Online:2007-09-30 Published:2007-09-30

Abstract

Abstract: In this paper, according to the operating characteristics of ultrasonic motors, a new velocity-position feedback control strategy is proposed and implemented in a three-joint robot directly driven by ultrasonic motors.Results show that, the robot can achieve high positional resolution under position feedback control; however the robot will quiver due to the quick change of the speed of ultrasonic motors. The robot can operate smoothly under velocity feedback control; however the positional resolution is worse. The proposed control strategy can achieve the best performance of the robot, i.e. higher position accuracy and smooth operation.

Key words: ultrasonic motor, feedback control, PID, joint robot

SUN Zhi-jun;XING Ren-tao;ZHAO Chun-sheng;HUANG Wei-qing. Accurate Position Control of Multiple Joint Robot Driven by Ultrasonic Motors[J]. Journal of Applied Sciences.

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Accurate Position Control of Multiple Joint Robot Driven by Ultrasonic Motors

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