Title :
Position control of robot manipulators with ultrasonic motors using pulse width modulation
Author :
Nishibori, Kenji ; Okuma, Shigeru ; Oshima, Kazuhiko ; Eryu, Yasuo ; Ikegaya, Yoshiyuki
Author_Institution :
Dept. of Mech. Eng., Daido Inst. of Technol., Nagoya, Japan
Abstract :
This paper proposes position control of robot manipulators using ultrasonic motors under a fuzzy controller and a rotational speed control method, such as pulse width modulation (PWM), by changing the duty ratio of the forward direction duration, which we proposed in a previous paper. From the experiments, it was confirmed that exact position control of the manipulator was achieved through an adjusting motion, such as with a pulse motor, besides the position control using a fuzzy controller for instance. The ultrasonic motor is hardly affected by the friction in the position control since the rotor can approach a desired position with the jitters by PWM
Keywords :
angular velocity control; fuzzy control; machine control; path planning; position control; pulse width modulation; stepping motors; ultrasonic motors; PWM; adjusting motion; duty ratio; forward direction; friction; position control; pulse motor; pulse width modulation; robot manipulators; rotational speed control method; ultrasonic motors; Friction; Fuzzy control; Manipulators; Motion control; Position control; Pulse width modulation; Robots; Rotors; Space vector pulse width modulation; Velocity control;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570751