TY - GEN
T1 - Safeness of a robot arm using ultrasonic motors with high responsiveness and backdrivability
AU - Yamashita, T.
AU - Mashimo, T.
AU - Takesue, N.
AU - Terashima, K.
N1 - Funding Information:
The authors are grateful to Jing Chen and Jianxiong Zhou for their electron microprobe analyses. This research was supported by the Geological Museum of China, the Chinese Academy of Geological Sciences, and the National Natural Science Foundation of China (NSFC grant No. 49472094). Some support for this study also was provided by the NSF Grant EAR 95-05930 to LAT.
Publisher Copyright:
© 2014 IEEE.
PY - 2014/1/30
Y1 - 2014/1/30
N2 - We propose a robot arm using ultrasonic motors and demonstrate its characteristics such as high responsiveness and backdrivability, which are important characteristics in the view of the safety. The high responsiveness allows the robots to avoid collision against any objects and backdrivability makes the robots have compliance to unexpected actions of people. In this paper, we clarify the responsiveness and backdrivability of the ultrasonic motors experimentally. For the demonstration, we build a prototype robot arm having three joints which are all directly coupled to the output axis of the ultrasonic motors. In the experiments, the robot showed the responsiveness less than a few milliseconds, torque control such as if torsion spring model, and the backdrivability as a free joint. We discuss the safety control strategy using these characteristics.
AB - We propose a robot arm using ultrasonic motors and demonstrate its characteristics such as high responsiveness and backdrivability, which are important characteristics in the view of the safety. The high responsiveness allows the robots to avoid collision against any objects and backdrivability makes the robots have compliance to unexpected actions of people. In this paper, we clarify the responsiveness and backdrivability of the ultrasonic motors experimentally. For the demonstration, we build a prototype robot arm having three joints which are all directly coupled to the output axis of the ultrasonic motors. In the experiments, the robot showed the responsiveness less than a few milliseconds, torque control such as if torsion spring model, and the backdrivability as a free joint. We discuss the safety control strategy using these characteristics.
UR - http://www.scopus.com/inward/record.url?scp=84946692968&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946692968&partnerID=8YFLogxK
U2 - 10.1109/SII.2014.7028006
DO - 10.1109/SII.2014.7028006
M3 - Conference contribution
AN - SCOPUS:84946692968
T3 - 2014 IEEE/SICE International Symposium on System Integration, SII 2014
SP - 28
EP - 33
BT - 2014 IEEE/SICE International Symposium on System Integration, SII 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE/SICE International Symposium on System Integration, SII 2014
Y2 - 13 December 2014 through 15 December 2014
ER -