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Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
October-December 2011 (vol. 4 no. 4)
pp. 327-331
ASCII Text
x 
 
Frédéric Giraud, Paul Sandulescu, Michel Amberg, Betty Lemaire-Semail, Florin Ionescu, "Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor," IEEE Transactions on Haptics, vol. 4, no. 4, pp. 327-331, October-December, 2011.
 
 
BibTex
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@article{ 10.1109/TOH.2011.20,
author = {Frédéric Giraud and Paul Sandulescu and Michel Amberg and Betty Lemaire-Semail and Florin Ionescu},
title = {Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor},
journal ={IEEE Transactions on Haptics},
volume = {4},
number = {4},
issn = {1939-1412},
year = {2011},
pages = {327-331},
doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2011.20},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Haptics
TI - Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
IS - 4
SN - 1939-1412
SP327
EP331
EPD - 327-331
A1 - Frédéric Giraud,
A1 - Paul Sandulescu,
A1 - Michel Amberg,
A1 - Betty Lemaire-Semail,
A1 - Florin Ionescu,
PY - 2011
KW - Force feedback
KW - real-time control
KW - haptic display
KW - ultrasonic motor.
VL - 4
JA - IEEE Transactions on Haptics
ER -
 
Frédéric Giraud, University Lille1, Villeneuve d'Ascq
Paul Sandulescu, Arts & Métiers Paris Tech, Lille, Lille
Michel Amberg, University Lille1, Villeneuve d'Ascq
Betty Lemaire-Semail, University Lille1, Villeneuve d'Ascq
Florin Ionescu, University Politehnica of Bucharest, Bucharest
This paper deals with the control and experimentation of a one-degree-of-freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a force-feedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.

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Index Terms:
Force feedback, real-time control, haptic display, ultrasonic motor.
Citation:
Frédéric Giraud, Paul Sandulescu, Michel Amberg, Betty Lemaire-Semail, Florin Ionescu, "Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor," IEEE Transactions on Haptics, vol. 4, no. 4, pp. 327-331, Oct.-Dec. 2011, doi:10.1109/TOH.2011.20
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