位相制御による超音波モータの可変コンプライアント動作

Abstract

It is an important problem to realise a contact task manipulator, for example an prosthetic arm. One approach to that is an adjustable compliance control. We developed an adjustable compliance actuator system for a prosthetic arm using phase control and angle control of a traveling wave ultrasonic motor. The traveling wave ultrasonic motor is driven by two-phase sine wave signals, and the phase difference of two signals is usually selecteted to 90deg. But in our system, the phase difference is adjusted in the range from +90 to -90deg by angle of the output shaft of the motor. Our system acts as a spiral spring with little damping.